PointMap: A real-time memory-based learning system with on-line and post-training pruning

Also published in the International Journal of Hybrid Intelligent Systems, Volume 1, January, 2004A memory-based learning system called PointMap is a simple and computationally efficient extension of Condensed Nearest Neighbor that allows the user to limit the number of exemplars stored during incremental learning. PointMap evaluates the information value of coding nodes during training, and uses this index to prune uninformative nodes either on-line or after training. These pruning methods allow the user to control both a priori code size and sensitivity to detail in the training data, as well as to determine the code size necessary for accurate performance on a given data set. Coding and pruning computations are local in space, with only the nearest coded neighbor available for comparison with the input; and in time, with only the current input available during coding. Pruning helps solve common problems of traditional memory-based learning systems: large memory requirements, their accompanying slow on-line computations, and sensitivity to noise. PointMap copes with the curse of dimensionality by considering multiple nearest neighbors during testing without increasing the complexity of the training process or the stored code. The performance of PointMap is compared to that of a group of sixteen nearest-neighbor systems on benchmark problems.This research was supported by grants from the Air Force Office of Scientific Research (AFOSR F49620-98-l-0108, F49620-0l-l-0397, and F49620-0l-l-0423) and the Office of Naval Research (ONR N00014-0l-l-0624)

Generalized residual vector quantization for large scale data

Vector quantization is an essential tool for tasks involving large scale data, for example, large scale similarity search, which is crucial for content-based information retrieval and analysis. In this paper, we propose a novel vector quantization framework that iteratively minimizes quantization error. First, we provide a detailed review on a relevant vector quantization method named \textit{residual vector quantization} (RVQ). Next, we propose \textit{generalized residual vector quantization} (GRVQ) to further improve over RVQ. Many vector quantization methods can be viewed as the special cases of our proposed framework. We evaluate GRVQ on several large scale benchmark datasets for large scale search, classification and object retrieval. We compared GRVQ with existing methods in detail. Extensive experiments demonstrate our GRVQ framework substantially outperforms existing methods in term of quantization accuracy and computation efficiency.Comment: published on International Conference on Multimedia and Expo 201

Dynamic Path Planning and Replanning for Mobile Robots using RRT*

It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current, location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the robot is rarely static, and it often has many moving obstacles. The robot may encounter one, or many, of these unknown and unpredictable moving obstacles. The robot will need to decide how to proceed when one of these obstacles is obstructing it's path. A method of dynamic replanning using RRT* is presented. The robot will modify it's current plan when an unknown random moving obstacle obstructs the path. Various experimental results show the effectiveness of the proposed method

3D environment mapping using the Kinect V2 and path planning based on RRT algorithms

This paper describes a 3D path planning system that is able to provide a solution trajectory for the automatic control of a robot. The proposed system uses a point cloud obtained from the robot workspace, with a Kinect V2 sensor to identify the interest regions and the obstacles of the environment. Our proposal includes a collision-free path planner based on the Rapidly-exploring Random Trees variant (RRT*), for a safe and optimal navigation of robots in 3D spaces. Results on RGB-D segmentation and recognition, point cloud processing, and comparisons between different RRT* algorithms, are presented.Peer ReviewedPostprint (published version

Fast Hierarchical Clustering and Other Applications of Dynamic Closest Pairs

We develop data structures for dynamic closest pair problems with arbitrary distance functions, that do not necessarily come from any geometric structure on the objects. Based on a technique previously used by the author for Euclidean closest pairs, we show how to insert and delete objects from an n-object set, maintaining the closest pair, in O(n log^2 n) time per update and O(n) space. With quadratic space, we can instead use a quadtree-like structure to achieve an optimal time bound, O(n) per update. We apply these data structures to hierarchical clustering, greedy matching, and TSP heuristics, and discuss other potential applications in machine learning, Groebner bases, and local improvement algorithms for partition and placement problems. Experiments show our new methods to be faster in practice than previously used heuristics.Comment: 20 pages, 9 figures. A preliminary version of this paper appeared at the 9th ACM-SIAM Symp. on Discrete Algorithms, San Francisco, 1998, pp. 619-628. For source code and experimental results, see http://www.ics.uci.edu/~eppstein/projects/pairs