An Analytical Study of Large SPARQL Query Logs

With the adoption of RDF as the data model for Linked Data and the Semantic Web, query specification from end- users has become more and more common in SPARQL end- points. In this paper, we conduct an in-depth analytical study of the queries formulated by end-users and harvested from large and up-to-date query logs from a wide variety of RDF data sources. As opposed to previous studies, ours is the first assessment on a voluminous query corpus, span- ning over several years and covering many representative SPARQL endpoints. Apart from the syntactical structure of the queries, that exhibits already interesting results on this generalized corpus, we drill deeper in the structural char- acteristics related to the graph- and hypergraph represen- tation of queries. We outline the most common shapes of queries when visually displayed as pseudographs, and char- acterize their (hyper-)tree width. Moreover, we analyze the evolution of queries over time, by introducing the novel con- cept of a streak, i.e., a sequence of queries that appear as subsequent modifications of a seed query. Our study offers several fresh insights on the already rich query features of real SPARQL queries formulated by real users, and brings us to draw a number of conclusions and pinpoint future di- rections for SPARQL query evaluation, query optimization, tuning, and benchmarking

AMaχoS—Abstract Machine for Xcerpt

Web query languages promise convenient and efficient access to Web data such as XML, RDF, or Topic Maps. Xcerpt is one such Web query language with strong emphasis on novel high-level constructs for effective and convenient query authoring, particularly tailored to versatile access to data in different Web formats such as XML or RDF. However, so far it lacks an efficient implementation to supplement the convenient language features. AMaχoS is an abstract machine implementation for Xcerpt that aims at efficiency and ease of deployment. It strictly separates compilation and execution of queries: Queries are compiled once to abstract machine code that consists in (1) a code segment with instructions for evaluating each rule and (2) a hint segment that provides the abstract machine with optimization hints derived by the query compilation. This article summarizes the motivation and principles behind AMaχoS and discusses how its current architecture realizes these principles

SceneFlowFields: Dense Interpolation of Sparse Scene Flow Correspondences

While most scene flow methods use either variational optimization or a strong rigid motion assumption, we show for the first time that scene flow can also be estimated by dense interpolation of sparse matches. To this end, we find sparse matches across two stereo image pairs that are detected without any prior regularization and perform dense interpolation preserving geometric and motion boundaries by using edge information. A few iterations of variational energy minimization are performed to refine our results, which are thoroughly evaluated on the KITTI benchmark and additionally compared to state-of-the-art on MPI Sintel. For application in an automotive context, we further show that an optional ego-motion model helps to boost performance and blends smoothly into our approach to produce a segmentation of the scene into static and dynamic parts.Comment: IEEE Winter Conference on Applications of Computer Vision (WACV), 201

Mesh-based 3D Textured Urban Mapping

In the era of autonomous driving, urban mapping represents a core step to let vehicles interact with the urban context. Successful mapping algorithms have been proposed in the last decade building the map leveraging on data from a single sensor. The focus of the system presented in this paper is twofold: the joint estimation of a 3D map from lidar data and images, based on a 3D mesh, and its texturing. Indeed, even if most surveying vehicles for mapping are endowed by cameras and lidar, existing mapping algorithms usually rely on either images or lidar data; moreover both image-based and lidar-based systems often represent the map as a point cloud, while a continuous textured mesh representation would be useful for visualization and navigation purposes. In the proposed framework, we join the accuracy of the 3D lidar data, and the dense information and appearance carried by the images, in estimating a visibility consistent map upon the lidar measurements, and refining it photometrically through the acquired images. We evaluate the proposed framework against the KITTI dataset and we show the performance improvement with respect to two state of the art urban mapping algorithms, and two widely used surface reconstruction algorithms in Computer Graphics.Comment: accepted at iros 201