Top-k Route Search through Submodularity Modeling of Recurrent POI Features

We consider a practical top-k route search problem: given a collection of points of interest (POIs) with rated features and traveling costs between POIs, a user wants to find k routes from a source to a destination and limited in a cost budget, that maximally match her needs on feature preferences. One challenge is dealing with the personalized diversity requirement where users have various trade-off between quantity (the number of POIs with a specified feature) and variety (the coverage of specified features). Another challenge is the large scale of the POI map and the great many alternative routes to search. We model the personalized diversity requirement by the whole class of submodular functions, and present an optimal solution to the top-k route search problem through indices for retrieving relevant POIs in both feature and route spaces and various strategies for pruning the search space using user preferences and constraints. We also present promising heuristic solutions and evaluate all the solutions on real life data.Comment: 11 pages, 7 figures, 2 table

Learning to See the Wood for the Trees: Deep Laser Localization in Urban and Natural Environments on a CPU

Localization in challenging, natural environments such as forests or woodlands is an important capability for many applications from guiding a robot navigating along a forest trail to monitoring vegetation growth with handheld sensors. In this work we explore laser-based localization in both urban and natural environments, which is suitable for online applications. We propose a deep learning approach capable of learning meaningful descriptors directly from 3D point clouds by comparing triplets (anchor, positive and negative examples). The approach learns a feature space representation for a set of segmented point clouds that are matched between a current and previous observations. Our learning method is tailored towards loop closure detection resulting in a small model which can be deployed using only a CPU. The proposed learning method would allow the full pipeline to run on robots with limited computational payload such as drones, quadrupeds or UGVs.Comment: Accepted for publication at RA-L/ICRA 2019. More info: https://ori.ox.ac.uk/esm-localizatio