Encyclopedia of software components

Intelligent browsing through a collection of reusable software components is facilitated with a computer having a video monitor and a user input interface such as a keyboard or a mouse for transmitting user selections, by presenting a picture of encyclopedia volumes with respective visible labels referring to types of software, in accordance with a metaphor in which each volume includes a page having a list of general topics under the software type of the volume and pages having lists of software components for each one of the generic topics, altering the picture to open one of the volumes in response to an initial user selection specifying the one volume to display on the monitor a picture of the page thereof having the list of general topics and altering the picture to display the page thereof having a list of software components under one of the general topics in response to a next user selection specifying the one general topic, and then presenting a picture of a set of different informative plates depicting different types of information about one of the software components in response to a further user selection specifying the one component

Discovering Valuable Items from Massive Data

Suppose there is a large collection of items, each with an associated cost and an inherent utility that is revealed only once we commit to selecting it. Given a budget on the cumulative cost of the selected items, how can we pick a subset of maximal value? This task generalizes several important problems such as multi-arm bandits, active search and the knapsack problem. We present an algorithm, GP-Select, which utilizes prior knowledge about similarity be- tween items, expressed as a kernel function. GP-Select uses Gaussian process prediction to balance exploration (estimating the unknown value of items) and exploitation (selecting items of high value). We extend GP-Select to be able to discover sets that simultaneously have high utility and are diverse. Our preference for diversity can be specified as an arbitrary monotone submodular function that quantifies the diminishing returns obtained when selecting similar items. Furthermore, we exploit the structure of the model updates to achieve an order of magnitude (up to 40X) speedup in our experiments without resorting to approximations. We provide strong guarantees on the performance of GP-Select and apply it to three real-world case studies of industrial relevance: (1) Refreshing a repository of prices in a Global Distribution System for the travel industry, (2) Identifying diverse, binding-affine peptides in a vaccine de- sign task and (3) Maximizing clicks in a web-scale recommender system by recommending items to users

Efficient Spatial Keyword Search in Trajectory Databases

An increasing amount of trajectory data is being annotated with text descriptions to better capture the semantics associated with locations. The fusion of spatial locations and text descriptions in trajectories engenders a new type of top-$k$ queries that take into account both aspects. Each trajectory in consideration consists of a sequence of geo-spatial locations associated with text descriptions. Given a user location $\lambda$ and a keyword set $\psi$, a top-$k$ query returns $k$ trajectories whose text descriptions cover the keywords $\psi$ and that have the shortest match distance. To the best of our knowledge, previous research on querying trajectory databases has focused on trajectory data without any text description, and no existing work has studied such kind of top-$k$ queries on trajectories. This paper proposes one novel method for efficiently computing top-$k$ trajectories. The method is developed based on a new hybrid index, cell-keyword conscious B$^+$-tree, denoted by \cellbtree, which enables us to exploit both text relevance and location proximity to facilitate efficient and effective query processing. The results of our extensive empirical studies with an implementation of the proposed algorithms on BerkeleyDB demonstrate that our proposed methods are capable of achieving excellent performance and good scalability.Comment: 12 page

Encyclopedia of Software Components

Intelligent browsing through a collection of reusable software components is facilitated with a computer having a video monitor and a user input interface such as a keyboard or a mouse for transmitting user selections, by presenting a picture of encyclopedia volumes with respective visible labels referring to types of software, in accordance with a metaphor in which each volume includes a page having a list of general topics under the software type of the volume and pages having lists of software components for each one of the generic topics, altering the picture to open one of the volumes in response to an initial user selection specifying the one volume to display on the monitor a picture of the page thereof having the list of general topics and altering the picture to display the page thereof having a list of software components under one of the general topics in response to a next user selection specifying the one general topic, and then presenting a picture of a set of different informative plates depicting different types of information about one of the software components in response to a further user selection specifying the one component

Tour recommendation for groups

Consider a group of people who are visiting a major touristic city, such as NY, Paris, or Rome. It is reasonable to assume that each member of the group has his or her own interests or preferences about places to visit, which in general may differ from those of other members. Still, people almost always want to hang out together and so the following question naturally arises: What is the best tour that the group could perform together in the city? This problem underpins several challenges, ranging from understanding people’s expected attitudes towards potential points of interest, to modeling and providing good and viable solutions. Formulating this problem is challenging because of multiple competing objectives. For example, making the entire group as happy as possible in general conflicts with the objective that no member becomes disappointed. In this paper, we address the algorithmic implications of the above problem, by providing various formulations that take into account the overall group as well as the individual satisfaction and the length of the tour. We then study the computational complexity of these formulations, we provide effective and efficient practical algorithms, and, finally, we evaluate them on datasets constructed from real city data

Visual Place Recognition in Changing Environments

Localization is an essential capability of mobile robots and place recognition is an important component of localization. Only having precise localization, robots can reliably plan, navigate and understand the environment around them. The main task of visual place recognition algorithms is to recognize based on the visual input if the robot has seen previously a given place in the environment. Cameras are one of the popular sensors robots get information from. They are lightweight, affordable, and provide detailed descriptions of the environment in the form of images. Cameras are shown to be useful for the vast variety of emerging applications, from virtual and augmented reality applications to autonomous cars or even fleets of autonomous cars. All these applications need precise localization. Nowadays, the state-of-the-art methods are able to reliably estimate the position of the robots using image streams. One of the big challenges still is the ability to localize a camera given an image stream in the presence of drastic visual appearance changes in the environment. Visual appearance changes may be caused by a variety of different reasons, starting from camera-related factors, such as changes in exposure time, camera position-related factors, e.g. the scene is observed from a different position or viewing angle, occlusions, as well as factors that stem from natural sources, for example seasonal changes, different weather conditions, illumination changes, etc. These effects change the way the same place in the environments appears in the image and can lead to situations where it becomes hard even for humans to recognize the places. Also, the performance of the traditional visual localization approaches, such as FABMAP or DBow, decreases dramatically in the presence of strong visual appearance changes. The techniques presented in this thesis aim at improving visual place recognition capabilities for robotic systems in the presence of dramatic visual appearance changes. To reduce the effect of visual changes on image matching performance, we exploit sequences of images rather than individual images. This becomes possible as robotic systems collect data sequentially and not in random order. We formulate the visual place recognition problem under strong appearance changes as a problem of matching image sequences collected by a robotic system at different points in time. A key insight here is the fact that matching sequences reduces the ambiguities in the data associations. This allows us to establish image correspondences between different sequences and thus recognize if two images represent the same place in the environment. To perform a search for image correspondences, we construct a graph that encodes the potential matches between the sequences and at the same time preserves the sequentiality of the data. The shortest path through such a data association graph provides the valid image correspondences between the sequences. Robots operating reliably in an environment should be able to recognize a place in an online manner and not after having recorded all data beforehand. As opposed to collecting image sequences and then determining the associations between the sequences offline, a real-world system should be able to make a decision for every incoming image. In this thesis, we therefore propose an algorithm that is able to perform visual place recognition in changing environments in an online fashion between the query and the previously recorded reference sequences. Then, for every incoming query image, our algorithm checks if the robot is in the previously seen environment, i.e. there exists a matching image in the reference sequence, as well as if the current measurement is consistent with previously obtained query images. Additionally, to be able to recognize places in an online manner, a robot needs to recognize the fact that it has left the previously mapped area as well as relocalize when it re-enters environment covered by the reference sequence. Thus, we relax the assumption that the robot should always travel within the previously mapped area and propose an improved graph-based matching procedure that allows for visual place recognition in case of partially overlapping image sequences. To achieve a long-term autonomy, we further increase the robustness of our place recognition algorithm by incorporating information from multiple image sequences, collected along different overlapping and non-overlapping routes. This allows us to grow the coverage of the environment in terms of area as well as various scene appearances. The reference dataset then contains more images to match against and this increases the probability of finding a matching image, which can lead to improved localization. To be able to deploy a robot that performs localization in large scaled environments over extended periods of time, however, collecting a reference dataset may be a tedious, resource consuming and in some cases intractable task. Avoiding an explicit map collection stage fosters faster deployment of robotic systems in the real world since no map has to be collected beforehand. By using our visual place recognition approach the map collection stage can be skipped, as we are able to incorporate the information from a publicly available source, e.g., from Google Street View, into our framework due to its general formulation. This automatically enables us to perform place recognition on already existing publicly available data and thus avoid costly mapping phase. In this thesis, we additionally show how to organize the images from the publicly available source into the sequences to perform out-of-the-box visual place recognition without previously collecting the otherwise required reference image sequences at city scale. All approaches described in this thesis have been published in peer-reviewed conference papers and journal articles. In addition to that, most of the presented contributions have been released publicly as open source software

A Case Study for eCampus Spatial: Business Data Exploration

Location based querying is the core interaction paradigm between mobile citizens and the Internet of Things, so providing users with intelligent web-services that interact efficiently with web and wireless devices to recommend personalised services is a key goal. With today\u27s popular Web Map Services, users can ask for general information at a specific location, but not detailed information such as related functionality or environments. This shortcoming comes from a lack of connection between non-spatial “business” data and spatial “map” data. This chapter presents a novel approach for location-based querying in web and wireless environments, in which non-spatial business data is dynamically connected to spatial base-map data to provide users with spatially-enabled attribute information at particular locations. The proposed approach is illustrated in a case study at the National University of Ireland in Maynooth (NUIM), where detailed 3D campus building models were constructed. Non-spatial university specific business data such as the functionalities and timetables of class rooms/buildings, campus news, noise levels, and navigation are then explored over the web and presented as both mobile and desktop web-services

RACER: Rapid Collaborative Exploration with a Decentralized Multi-UAV System

Although the use of multiple Unmanned Aerial Vehicles (UAVs) has great potential for fast autonomous exploration, it has received far too little attention. In this paper, we present RACER, a RApid Collaborative ExploRation approach using a fleet of decentralized UAVs. To effectively dispatch the UAVs, a pairwise interaction based on an online hgrid space decomposition is used. It ensures that all UAVs simultaneously explore distinct regions, using only asynchronous and limited communication. Further, we optimize the coverage paths of unknown space and balance the workloads partitioned to each UAV with a Capacitated Vehicle Routing Problem(CVRP) formulation. Given the task allocation, each UAV constantly updates the coverage path and incrementally extracts crucial information to support the exploration planning. A hierarchical planner finds exploration paths, refines local viewpoints and generates minimum-time trajectories in sequence to explore the unknown space agilely and safely. The proposed approach is evaluated extensively, showing high exploration efficiency, scalability and robustness to limited communication. Furthermore, for the first time, we achieve fully decentralized collaborative exploration with multiple UAVs in real world. We will release our implementation as an open-source package.Comment: Conditionally accpeted by TR