8,176 research outputs found
On Quantifying Qualitative Geospatial Data: A Probabilistic Approach
Living in the era of data deluge, we have witnessed a web content explosion,
largely due to the massive availability of User-Generated Content (UGC). In
this work, we specifically consider the problem of geospatial information
extraction and representation, where one can exploit diverse sources of
information (such as image and audio data, text data, etc), going beyond
traditional volunteered geographic information. Our ambition is to include
available narrative information in an effort to better explain geospatial
relationships: with spatial reasoning being a basic form of human cognition,
narratives expressing such experiences typically contain qualitative spatial
data, i.e., spatial objects and spatial relationships.
To this end, we formulate a quantitative approach for the representation of
qualitative spatial relations extracted from UGC in the form of texts. The
proposed method quantifies such relations based on multiple text observations.
Such observations provide distance and orientation features which are utilized
by a greedy Expectation Maximization-based (EM) algorithm to infer a
probability distribution over predefined spatial relationships; the latter
represent the quantified relationships under user-defined probabilistic
assumptions. We evaluate the applicability and quality of the proposed approach
using real UGC data originating from an actual travel blog text corpus. To
verify the quality of the result, we generate grid-based maps visualizing the
spatial extent of the various relations
Batch Nonlinear Continuous-Time Trajectory Estimation as Exactly Sparse Gaussian Process Regression
In this paper, we revisit batch state estimation through the lens of Gaussian
process (GP) regression. We consider continuous-discrete estimation problems
wherein a trajectory is viewed as a one-dimensional GP, with time as the
independent variable. Our continuous-time prior can be defined by any
nonlinear, time-varying stochastic differential equation driven by white noise;
this allows the possibility of smoothing our trajectory estimates using a
variety of vehicle dynamics models (e.g., `constant-velocity'). We show that
this class of prior results in an inverse kernel matrix (i.e., covariance
matrix between all pairs of measurement times) that is exactly sparse
(block-tridiagonal) and that this can be exploited to carry out GP regression
(and interpolation) very efficiently. When the prior is based on a linear,
time-varying stochastic differential equation and the measurement model is also
linear, this GP approach is equivalent to classical, discrete-time smoothing
(at the measurement times); when a nonlinearity is present, we iterate over the
whole trajectory to maximize accuracy. We test the approach experimentally on a
simultaneous trajectory estimation and mapping problem using a mobile robot
dataset.Comment: Submitted to Autonomous Robots on 20 November 2014, manuscript #
AURO-D-14-00185, 16 pages, 7 figure
A tesselated probabilistic representation for spatial robot perception and navigation
The ability to recover robust spatial descriptions from sensory information and to efficiently utilize these descriptions in appropriate planning and problem-solving activities are crucial requirements for the development of more powerful robotic systems. Traditional approaches to sensor interpretation, with their emphasis on geometric models, are of limited use for autonomous mobile robots operating in and exploring unknown and unstructured environments. Here, researchers present a new approach to robot perception that addresses such scenarios using a probabilistic tesselated representation of spatial information called the Occupancy Grid. The Occupancy Grid is a multi-dimensional random field that maintains stochastic estimates of the occupancy state of each cell in the grid. The cell estimates are obtained by interpreting incoming range readings using probabilistic models that capture the uncertainty in the spatial information provided by the sensor. A Bayesian estimation procedure allows the incremental updating of the map using readings taken from several sensors over multiple points of view. An overview of the Occupancy Grid framework is given, and its application to a number of problems in mobile robot mapping and navigation are illustrated. It is argued that a number of robotic problem-solving activities can be performed directly on the Occupancy Grid representation. Some parallels are drawn between operations on Occupancy Grids and related image processing operations
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