Long-term experiments with an adaptive spherical view representation for navigation in changing environments

Real-world environments such as houses and offices change over time, meaning that a mobile robot’s map will become out of date. In this work, we introduce a method to update the reference views in a hybrid metric-topological map so that a mobile robot can continue to localize itself in a changing environment. The updating mechanism, based on the multi-store model of human memory, incorporates a spherical metric representation of the observed visual features for each node in the map, which enables the robot to estimate its heading and navigate using multi-view geometry, as well as representing the local 3D geometry of the environment. A series of experiments demonstrate the persistence performance of the proposed system in real changing environments, including analysis of the long-term stability

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

Conceptual spatial representations for indoor mobile robots

We present an approach for creating conceptual representations of human-made indoor environments using mobile robots. The concepts refer to spatial and functional properties of typical indoor environments. Following findings in cognitive psychology, our model is composed of layers representing maps at different levels of abstraction. The complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition. The system also incorporates a linguistic framework that actively supports the map acquisition process, and which is used for situated dialogue. Finally, we discuss the capabilities of the integrated system

A Force-Directed Approach for Offline GPS Trajectory Map Matching

We present a novel algorithm to match GPS trajectories onto maps offline (in batch mode) using techniques borrowed from the field of force-directed graph drawing. We consider a simulated physical system where each GPS trajectory is attracted or repelled by the underlying road network via electrical-like forces. We let the system evolve under the action of these physical forces such that individual trajectories are attracted towards candidate roads to obtain a map matching path. Our approach has several advantages compared to traditional, routing-based, algorithms for map matching, including the ability to account for noise and to avoid large detours due to outliers in the data whilst taking into account the underlying topological restrictions (such as one-way roads). Our empirical evaluation using real GPS traces shows that our method produces better map matching results compared to alternative offline map matching algorithms on average, especially for routes in dense, urban areas.Comment: 10 pages, 12 figures, accepted version of article submitted to ACM SIGSPATIAL 2018, Seattle, US

Task-based Augmented Contour Trees with Fibonacci Heaps

This paper presents a new algorithm for the fast, shared memory, multi-core computation of augmented contour trees on triangulations. In contrast to most existing parallel algorithms our technique computes augmented trees, enabling the full extent of contour tree based applications including data segmentation. Our approach completely revisits the traditional, sequential contour tree algorithm to re-formulate all the steps of the computation as a set of independent local tasks. This includes a new computation procedure based on Fibonacci heaps for the join and split trees, two intermediate data structures used to compute the contour tree, whose constructions are efficiently carried out concurrently thanks to the dynamic scheduling of task parallelism. We also introduce a new parallel algorithm for the combination of these two trees into the output global contour tree. Overall, this results in superior time performance in practice, both in sequential and in parallel thanks to the OpenMP task runtime. We report performance numbers that compare our approach to reference sequential and multi-threaded implementations for the computation of augmented merge and contour trees. These experiments demonstrate the run-time efficiency of our approach and its scalability on common workstations. We demonstrate the utility of our approach in data segmentation applications

Network Structures, Concurrency, and Interpretability: Lessons from the Development of an AI Enabled Graph Database System

This thesis describes the development of the SmartGraph, an AI enabled graph database. The need for such a system has been independently recognized in the isolated fields of graph databases, graph computing, and computational graph deep learning systems, such as TensorFlow. Though prior works have investigated some relationships between these fields, we believe that the SmartGraph is the first system designed from conception to incorporate the most significant and useful characteristics of each. Examples include the ability to store graph structured data, run analytics natively on this data, and run gradient descent algorithms. It is the synergistic aspects of combining these fields that provide the most novel results presented in this dissertation. Key among them is how the notion of “graph querying” as used in graph databases can be used to solve a problem that has plagued deep learning systems since their inception; rather than attempting to embed graph structured datasets into restrictive vector spaces, we instead allow the deep learning functionality of the system to natively perform graph querying in memory during optimization as a way of interpreting (and learning) the graph. This results in a concept of natural and interpretable processing of graph structured data. Graph computing systems have traditionally used distributed computing across multiple compute nodes (e.g. separate machines connected via Ethernet or internet) to deal with large-scale datasets whilst working sequentially on problems over entire datasets. In this dissertation, we outline a distributed graph computing methodology that facilitates all the above capabilities (even in an environment consisting of a single physical machine) while allowing for a workflow more typical of a graph database than a graph computing system; massive concurrent access allowing for arbitrarily asynchronous execution of queries and analytics across the entire system. Further, we demonstrate how this methodology is key to the artificial intelligence capabilities of the system