Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

The ATLAS Track Extrapolation Package

The extrapolation of track parameters and their associated covariances to destination surfaces of different types is a very frequent process in the event reconstruction of high energy physics experiments. This is amongst other reasons due to the fact that most track and vertex fitting techniques are based on the first and second momentum of the underlying probability density distribution. The correct stochastic or deterministic treatment of interactions with the traversed detector material is hereby crucial for high quality track reconstruction throughout the entire momentum range of final state particles that are produced in high energy physics collision experiments. This document presents the main concepts, the algorithms and the implementation of the newly developed, powerful ATLAS track extrapolation engine. It also emphasises on validation procedures, timing measurements and the integration into the ATLAS offline reconstruction software

Quantum ESPRESSO: a modular and open-source software project for quantum simulations of materials

Quantum ESPRESSO is an integrated suite of computer codes for electronic-structure calculations and materials modeling, based on density-functional theory, plane waves, and pseudopotentials (norm-conserving, ultrasoft, and projector-augmented wave). Quantum ESPRESSO stands for "opEn Source Package for Research in Electronic Structure, Simulation, and Optimization". It is freely available to researchers around the world under the terms of the GNU General Public License. Quantum ESPRESSO builds upon newly-restructured electronic-structure codes that have been developed and tested by some of the original authors of novel electronic-structure algorithms and applied in the last twenty years by some of the leading materials modeling groups worldwide. Innovation and efficiency are still its main focus, with special attention paid to massively-parallel architectures, and a great effort being devoted to user friendliness. Quantum ESPRESSO is evolving towards a distribution of independent and inter-operable codes in the spirit of an open-source project, where researchers active in the field of electronic-structure calculations are encouraged to participate in the project by contributing their own codes or by implementing their own ideas into existing codes.Comment: 36 pages, 5 figures, resubmitted to J.Phys.: Condens. Matte

Gigavoxels: ray-guided streaming for efficient and detailed voxel rendering

Figure 1: Images show volume data that consist of billions of voxels rendered with our dynamic sparse octree approach. Our algorithm achieves real-time to interactive rates on volumes exceeding the GPU memory capacities by far, tanks to an efficient streaming based on a ray-casting solution. Basically, the volume is only used at the resolution that is needed to produce the final image. Besides the gain in memory and speed, our rendering is inherently anti-aliased. We propose a new approach to efficiently render large volumetric data sets. The system achieves interactive to real-time rendering performance for several billion voxels. Our solution is based on an adaptive data representation depending on the current view and occlusion information, coupled to an efficient ray-casting rendering algorithm. One key element of our method is to guide data production and streaming directly based on information extracted during rendering. Our data structure exploits the fact that in CG scenes, details are often concentrated on the interface between free space and clusters of density and shows that volumetric models might become a valuable alternative as a rendering primitive for real-time applications. In this spirit, we allow a quality/performance trade-off and exploit temporal coherence. We also introduce a mipmapping-like process that allows for an increased display rate and better quality through high quality filtering. To further enrich the data set, we create additional details through a variety of procedural methods. We demonstrate our approach in several scenarios, like the exploration of a 3D scan (8192 3 resolution), of hypertextured meshes (16384 3 virtual resolution), or of a fractal (theoretically infinite resolution). All examples are rendered on current generation hardware at 20-90 fps and respect the limited GPU memory budget. This is the author’s version of the paper. The ultimate version has been published in the I3D 2009 conference proceedings.