13,004 research outputs found
Efficient Constellation-Based Map-Merging for Semantic SLAM
Data association in SLAM is fundamentally challenging, and handling ambiguity
well is crucial to achieve robust operation in real-world environments. When
ambiguous measurements arise, conservatism often mandates that the measurement
is discarded or a new landmark is initialized rather than risking an incorrect
association. To address the inevitable `duplicate' landmarks that arise, we
present an efficient map-merging framework to detect duplicate constellations
of landmarks, providing a high-confidence loop-closure mechanism well-suited
for object-level SLAM. This approach uses an incrementally-computable
approximation of landmark uncertainty that only depends on local information in
the SLAM graph, avoiding expensive recovery of the full system covariance
matrix. This enables a search based on geometric consistency (GC) (rather than
full joint compatibility (JC)) that inexpensively reduces the search space to a
handful of `best' hypotheses. Furthermore, we reformulate the commonly-used
interpretation tree to allow for more efficient integration of clique-based
pairwise compatibility, accelerating the branch-and-bound max-cardinality
search. Our method is demonstrated to match the performance of full JC methods
at significantly-reduced computational cost, facilitating robust object-based
loop-closure over large SLAM problems.Comment: Accepted to IEEE International Conference on Robotics and Automation
(ICRA) 201
Efficient Recursions for General Factorisable Models
Let n S-valued categorical variables be jointly distributed according to a distribution known only up to an unknown normalising constant. For an unnormalised joint likelihood expressible as a product of factors, we give an algebraic recursion which can be used for computing the normalising constant and other summations. A saving in computation is achieved when each factor contains a lagged subset of the components combining in the joint distribution, with maximum computational efficiency as the subsets attain their minimum size. If each subset contains at most r+1 of the n components in the joint distribution, we term this a lag-r model, whose normalising constant can be computed using a forward recursion in O(Sr+1) computations, as opposed to O(Sn) for the direct computation. We show how a lag-r model represents a Markov random field and allows a neighbourhood structure to be related to the unnormalised joint likelihood. We illustrate the method by showing how the normalising constant of the Ising or autologistic model can be computed
The common state filter for SLAM
This paper presents the Common State Filter (CSF), a novel and efficient suboptimal Multiple Hypothesis SLAM (MHSLAM) method for Kalman Filter-based SLAM algorithms. Conventional MHSLAM algorithms require the entire vehicle and map state to be copied for each hypothesis. The CSF, by contrast, maintains a single, common instance of the vast majority of the map and only copies the map portion that varies substantially across different hypotheses. We demonstrate the performance of the algorithm on the Victoria Park data set. ©2008 IEEE
Probabilistic Bag-Of-Hyperlinks Model for Entity Linking
Many fundamental problems in natural language processing rely on determining
what entities appear in a given text. Commonly referenced as entity linking,
this step is a fundamental component of many NLP tasks such as text
understanding, automatic summarization, semantic search or machine translation.
Name ambiguity, word polysemy, context dependencies and a heavy-tailed
distribution of entities contribute to the complexity of this problem.
We here propose a probabilistic approach that makes use of an effective
graphical model to perform collective entity disambiguation. Input mentions
(i.e.,~linkable token spans) are disambiguated jointly across an entire
document by combining a document-level prior of entity co-occurrences with
local information captured from mentions and their surrounding context. The
model is based on simple sufficient statistics extracted from data, thus
relying on few parameters to be learned.
Our method does not require extensive feature engineering, nor an expensive
training procedure. We use loopy belief propagation to perform approximate
inference. The low complexity of our model makes this step sufficiently fast
for real-time usage. We demonstrate the accuracy of our approach on a wide
range of benchmark datasets, showing that it matches, and in many cases
outperforms, existing state-of-the-art methods
Fine-Grained Object Recognition and Zero-Shot Learning in Remote Sensing Imagery
Fine-grained object recognition that aims to identify the type of an object
among a large number of subcategories is an emerging application with the
increasing resolution that exposes new details in image data. Traditional fully
supervised algorithms fail to handle this problem where there is low
between-class variance and high within-class variance for the classes of
interest with small sample sizes. We study an even more extreme scenario named
zero-shot learning (ZSL) in which no training example exists for some of the
classes. ZSL aims to build a recognition model for new unseen categories by
relating them to seen classes that were previously learned. We establish this
relation by learning a compatibility function between image features extracted
via a convolutional neural network and auxiliary information that describes the
semantics of the classes of interest by using training samples from the seen
classes. Then, we show how knowledge transfer can be performed for the unseen
classes by maximizing this function during inference. We introduce a new data
set that contains 40 different types of street trees in 1-ft spatial resolution
aerial data, and evaluate the performance of this model with manually annotated
attributes, a natural language model, and a scientific taxonomy as auxiliary
information. The experiments show that the proposed model achieves 14.3%
recognition accuracy for the classes with no training examples, which is
significantly better than a random guess accuracy of 6.3% for 16 test classes,
and three other ZSL algorithms.Comment: G. Sumbul, R. G. Cinbis, S. Aksoy, "Fine-Grained Object Recognition
and Zero-Shot Learning in Remote Sensing Imagery", IEEE Transactions on
Geoscience and Remote Sensing (TGRS), in press, 201
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