83,943 research outputs found
Semantic 3D Occupancy Mapping through Efficient High Order CRFs
Semantic 3D mapping can be used for many applications such as robot
navigation and virtual interaction. In recent years, there has been great
progress in semantic segmentation and geometric 3D mapping. However, it is
still challenging to combine these two tasks for accurate and large-scale
semantic mapping from images. In the paper, we propose an incremental and
(near) real-time semantic mapping system. A 3D scrolling occupancy grid map is
built to represent the world, which is memory and computationally efficient and
bounded for large scale environments. We utilize the CNN segmentation as prior
prediction and further optimize 3D grid labels through a novel CRF model.
Superpixels are utilized to enforce smoothness and form robust P N high order
potential. An efficient mean field inference is developed for the graph
optimization. We evaluate our system on the KITTI dataset and improve the
segmentation accuracy by 10% over existing systems.Comment: IROS 201
Towards a Holistic Integration of Spreadsheets with Databases: A Scalable Storage Engine for Presentational Data Management
Spreadsheet software is the tool of choice for interactive ad-hoc data
management, with adoption by billions of users. However, spreadsheets are not
scalable, unlike database systems. On the other hand, database systems, while
highly scalable, do not support interactivity as a first-class primitive. We
are developing DataSpread, to holistically integrate spreadsheets as a
front-end interface with databases as a back-end datastore, providing
scalability to spreadsheets, and interactivity to databases, an integration we
term presentational data management (PDM). In this paper, we make a first step
towards this vision: developing a storage engine for PDM, studying how to
flexibly represent spreadsheet data within a database and how to support and
maintain access by position. We first conduct an extensive survey of
spreadsheet use to motivate our functional requirements for a storage engine
for PDM. We develop a natural set of mechanisms for flexibly representing
spreadsheet data and demonstrate that identifying the optimal representation is
NP-Hard; however, we develop an efficient approach to identify the optimal
representation from an important and intuitive subclass of representations. We
extend our mechanisms with positional access mechanisms that don't suffer from
cascading update issues, leading to constant time access and modification
performance. We evaluate these representations on a workload of typical
spreadsheets and spreadsheet operations, providing up to 20% reduction in
storage, and up to 50% reduction in formula evaluation time
A Comprehensive Survey of Deep Learning in Remote Sensing: Theories, Tools and Challenges for the Community
In recent years, deep learning (DL), a re-branding of neural networks (NNs),
has risen to the top in numerous areas, namely computer vision (CV), speech
recognition, natural language processing, etc. Whereas remote sensing (RS)
possesses a number of unique challenges, primarily related to sensors and
applications, inevitably RS draws from many of the same theories as CV; e.g.,
statistics, fusion, and machine learning, to name a few. This means that the RS
community should be aware of, if not at the leading edge of, of advancements
like DL. Herein, we provide the most comprehensive survey of state-of-the-art
RS DL research. We also review recent new developments in the DL field that can
be used in DL for RS. Namely, we focus on theories, tools and challenges for
the RS community. Specifically, we focus on unsolved challenges and
opportunities as it relates to (i) inadequate data sets, (ii)
human-understandable solutions for modelling physical phenomena, (iii) Big
Data, (iv) non-traditional heterogeneous data sources, (v) DL architectures and
learning algorithms for spectral, spatial and temporal data, (vi) transfer
learning, (vii) an improved theoretical understanding of DL systems, (viii)
high barriers to entry, and (ix) training and optimizing the DL.Comment: 64 pages, 411 references. To appear in Journal of Applied Remote
Sensin
Methods of Hierarchical Clustering
We survey agglomerative hierarchical clustering algorithms and discuss
efficient implementations that are available in R and other software
environments. We look at hierarchical self-organizing maps, and mixture models.
We review grid-based clustering, focusing on hierarchical density-based
approaches. Finally we describe a recently developed very efficient (linear
time) hierarchical clustering algorithm, which can also be viewed as a
hierarchical grid-based algorithm.Comment: 21 pages, 2 figures, 1 table, 69 reference
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