Localization from semantic observations via the matrix permanent

Most approaches to robot localization rely on low-level geometric features such as points, lines, and planes. In this paper, we use object recognition to obtain semantic information from the robot’s sensors and consider the task of localizing the robot within a prior map of landmarks, which are annotated with semantic labels. As object recognition algorithms miss detections and produce false alarms, correct data association between the detections and the landmarks on the map is central to the semantic localization problem. Instead of the traditional vector-based representation, we propose a sensor model, which encodes the semantic observations via random finite sets and enables a unified treatment of missed detections, false alarms, and data association. Our second contribution is to reduce the problem of computing the likelihood of a set-valued observation to the problem of computing a matrix permanent. It is this crucial transformation that allows us to solve the semantic localization problem with a polynomial-time approximation to the set-based Bayes filter. Finally, we address the active semantic localization problem, in which the observer’s trajectory is planned in order to improve the accuracy and efficiency of the localization process. The performance of our approach is demonstrated in simulation and in real environments using deformable-part-model-based object detectors. Robust global localization from semantic observations is demonstrated for a mobile robot, for the Project Tango phone, and on the KITTI visual odometry dataset. Comparisons are made with the traditional lidar-based geometric Monte Carlo localization

Efficient SDP Inference for Fully-connected CRFs Based on Low-rank Decomposition

Conditional Random Fields (CRF) have been widely used in a variety of computer vision tasks. Conventional CRFs typically define edges on neighboring image pixels, resulting in a sparse graph such that efficient inference can be performed. However, these CRFs fail to model long-range contextual relationships. Fully-connected CRFs have thus been proposed. While there are efficient approximate inference methods for such CRFs, usually they are sensitive to initialization and make strong assumptions. In this work, we develop an efficient, yet general algorithm for inference on fully-connected CRFs. The algorithm is based on a scalable SDP algorithm and the low- rank approximation of the similarity/kernel matrix. The core of the proposed algorithm is a tailored quasi-Newton method that takes advantage of the low-rank matrix approximation when solving the specialized SDP dual problem. Experiments demonstrate that our method can be applied on fully-connected CRFs that cannot be solved previously, such as pixel-level image co-segmentation.Comment: 15 pages. A conference version of this work appears in Proc. IEEE Conference on Computer Vision and Pattern Recognition, 201

Scale-space and edge detection using anisotropic diffusion

The scale-space technique introduced by Witkin involves generating coarser resolution images by convolving the original image with a Gaussian kernel. This approach has a major drawback: it is difficult to obtain accurately the locations of the “semantically meaningful” edges at coarse scales. In this paper we suggest a new definition of scale-space, and introduce a class of algorithms that realize it using a diffusion process. The diffusion coefficient is chosen to vary spatially in such a way as to encourage intraregion smoothing in preference to interregion smoothing. It is shown that the “no new maxima should be generated at coarse scales” property of conventional scale space is preserved. As the region boundaries in our approach remain sharp, we obtain a high quality edge detector which successfully exploits global information. Experimental results are shown on a number of images. The algorithm involves elementary, local operations replicated over the image making parallel hardware implementations feasible

ARKCoS: Artifact-Suppressed Accelerated Radial Kernel Convolution on the Sphere

We describe a hybrid Fourier/direct space convolution algorithm for compact radial (azimuthally symmetric) kernels on the sphere. For high resolution maps covering a large fraction of the sky, our implementation takes advantage of the inexpensive massive parallelism afforded by consumer graphics processing units (GPUs). Applications involve modeling of instrumental beam shapes in terms of compact kernels, computation of fine-scale wavelet transformations, and optimal filtering for the detection of point sources. Our algorithm works for any pixelization where pixels are grouped into isolatitude rings. Even for kernels that are not bandwidth limited, ringing features are completely absent on an ECP grid. We demonstrate that they can be highly suppressed on the popular HEALPix pixelization, for which we develop a freely available implementation of the algorithm. As an example application, we show that running on a high-end consumer graphics card our method speeds up beam convolution for simulations of a characteristic Planck high frequency instrument channel by two orders of magnitude compared to the commonly used HEALPix implementation on one CPU core while maintaining at typical a fractional RMS accuracy of about 1 part in 10^5.Comment: 10 pages, 6 figures. Submitted to Astronomy and Astrophysics. Replaced to match published version. Code can be downloaded at https://github.com/elsner/arkco

Approximate Message Passing in Coded Aperture Snapshot Spectral Imaging

We consider a compressive hyperspectral imaging reconstruction problem, where three-dimensional spatio-spectral information about a scene is sensed by a coded aperture snapshot spectral imager (CASSI). The approximate message passing (AMP) framework is utilized to reconstruct hyperspectral images from CASSI measurements, and an adaptive Wiener filter is employed as a three-dimensional image denoiser within AMP. We call our algorithm "AMP-3D-Wiener." The simulation results show that AMP-3D-Wiener outperforms existing widely-used algorithms such as gradient projection for sparse reconstruction (GPSR) and two-step iterative shrinkage/thresholding (TwIST) given the same amount of runtime. Moreover, in contrast to GPSR and TwIST, AMP-3D-Wiener need not tune any parameters, which simplifies the reconstruction process.Comment: to appear in Globalsip 201

An ontology enhanced parallel SVM for scalable spam filter training

This is the post-print version of the final paper published in Neurocomputing. The published article is available from the link below. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. Copyright @ 2013 Elsevier B.V.Spam, under a variety of shapes and forms, continues to inflict increased damage. Varying approaches including Support Vector Machine (SVM) techniques have been proposed for spam filter training and classification. However, SVM training is a computationally intensive process. This paper presents a MapReduce based parallel SVM algorithm for scalable spam filter training. By distributing, processing and optimizing the subsets of the training data across multiple participating computer nodes, the parallel SVM reduces the training time significantly. Ontology semantics are employed to minimize the impact of accuracy degradation when distributing the training data among a number of SVM classifiers. Experimental results show that ontology based augmentation improves the accuracy level of the parallel SVM beyond the original sequential counterpart