PIONIER: a visitor instrument for the VLTI

PIONIER is a 4-telescope visitor instrument for the VLTI, planned to see its first fringes in 2010. It combines four ATs or four UTs using a pairwise ABCD integrated optics combiner that can also be used in scanning mode. It provides low spectral resolution in H and K band. PIONIER is designed for imaging with a specific emphasis on fast fringe recording to allow closure-phases and visibilities to be precisely measured. In this work we provide the detailed description of the instrument and present its updated status.Comment: Proceedings of SPIE conference Optical and Infrared Interferometry II (Conference 7734) San Diego 201

The Revisiting Problem in Simultaneous Localization and Mapping: A Survey on Visual Loop Closure Detection

Where am I? This is one of the most critical questions that any intelligent system should answer to decide whether it navigates to a previously visited area. This problem has long been acknowledged for its challenging nature in simultaneous localization and mapping (SLAM), wherein the robot needs to correctly associate the incoming sensory data to the database allowing consistent map generation. The significant advances in computer vision achieved over the last 20 years, the increased computational power, and the growing demand for long-term exploration contributed to efficiently performing such a complex task with inexpensive perception sensors. In this article, visual loop closure detection, which formulates a solution based solely on appearance input data, is surveyed. We start by briefly introducing place recognition and SLAM concepts in robotics. Then, we describe a loop closure detection system's structure, covering an extensive collection of topics, including the feature extraction, the environment representation, the decision-making step, and the evaluation process. We conclude by discussing open and new research challenges, particularly concerning the robustness in dynamic environments, the computational complexity, and scalability in long-term operations. The article aims to serve as a tutorial and a position paper for newcomers to visual loop closure detection.Comment: 25 pages, 15 figure

Fast Computation of Small Cuts via Cycle Space Sampling

We describe a new sampling-based method to determine cuts in an undirected graph. For a graph (V, E), its cycle space is the family of all subsets of E that have even degree at each vertex. We prove that with high probability, sampling the cycle space identifies the cuts of a graph. This leads to simple new linear-time sequential algorithms for finding all cut edges and cut pairs (a set of 2 edges that form a cut) of a graph. In the model of distributed computing in a graph G=(V, E) with O(log V)-bit messages, our approach yields faster algorithms for several problems. The diameter of G is denoted by Diam, and the maximum degree by Delta. We obtain simple O(Diam)-time distributed algorithms to find all cut edges, 2-edge-connected components, and cut pairs, matching or improving upon previous time bounds. Under natural conditions these new algorithms are universally optimal --- i.e. a Omega(Diam)-time lower bound holds on every graph. We obtain a O(Diam+Delta/log V)-time distributed algorithm for finding cut vertices; this is faster than the best previous algorithm when Delta, Diam = O(sqrt(V)). A simple extension of our work yields the first distributed algorithm with sub-linear time for 3-edge-connected components. The basic distributed algorithms are Monte Carlo, but they can be made Las Vegas without increasing the asymptotic complexity. In the model of parallel computing on the EREW PRAM our approach yields a simple algorithm with optimal time complexity O(log V) for finding cut pairs and 3-edge-connected components.Comment: Previous version appeared in Proc. 35th ICALP, pages 145--160, 200