5,871 research outputs found
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
Provable Dynamic Robust PCA or Robust Subspace Tracking
Dynamic robust PCA refers to the dynamic (time-varying) extension of robust
PCA (RPCA). It assumes that the true (uncorrupted) data lies in a
low-dimensional subspace that can change with time, albeit slowly. The goal is
to track this changing subspace over time in the presence of sparse outliers.
We develop and study a novel algorithm, that we call simple-ReProCS, based on
the recently introduced Recursive Projected Compressive Sensing (ReProCS)
framework. Our work provides the first guarantee for dynamic RPCA that holds
under weakened versions of standard RPCA assumptions, slow subspace change and
a lower bound assumption on most outlier magnitudes. Our result is significant
because (i) it removes the strong assumptions needed by the two previous
complete guarantees for ReProCS-based algorithms; (ii) it shows that it is
possible to achieve significantly improved outlier tolerance, compared with all
existing RPCA or dynamic RPCA solutions by exploiting the above two simple
extra assumptions; and (iii) it proves that simple-ReProCS is online (after
initialization), fast, and, has near-optimal memory complexity.Comment: Minor writing edits. The paper has been accepted to IEEE Transactions
on Information Theor
Learning Articulated Motions From Visual Demonstration
Many functional elements of human homes and workplaces consist of rigid
components which are connected through one or more sliding or rotating
linkages. Examples include doors and drawers of cabinets and appliances;
laptops; and swivel office chairs. A robotic mobile manipulator would benefit
from the ability to acquire kinematic models of such objects from observation.
This paper describes a method by which a robot can acquire an object model by
capturing depth imagery of the object as a human moves it through its range of
motion. We envision that in future, a machine newly introduced to an
environment could be shown by its human user the articulated objects particular
to that environment, inferring from these "visual demonstrations" enough
information to actuate each object independently of the user.
Our method employs sparse (markerless) feature tracking, motion segmentation,
component pose estimation, and articulation learning; it does not require prior
object models. Using the method, a robot can observe an object being exercised,
infer a kinematic model incorporating rigid, prismatic and revolute joints,
then use the model to predict the object's motion from a novel vantage point.
We evaluate the method's performance, and compare it to that of a previously
published technique, for a variety of household objects.Comment: Published in Robotics: Science and Systems X, Berkeley, CA. ISBN:
978-0-9923747-0-
Proposal Flow: Semantic Correspondences from Object Proposals
Finding image correspondences remains a challenging problem in the presence
of intra-class variations and large changes in scene layout. Semantic flow
methods are designed to handle images depicting different instances of the same
object or scene category. We introduce a novel approach to semantic flow,
dubbed proposal flow, that establishes reliable correspondences using object
proposals. Unlike prevailing semantic flow approaches that operate on pixels or
regularly sampled local regions, proposal flow benefits from the
characteristics of modern object proposals, that exhibit high repeatability at
multiple scales, and can take advantage of both local and geometric consistency
constraints among proposals. We also show that the corresponding sparse
proposal flow can effectively be transformed into a conventional dense flow
field. We introduce two new challenging datasets that can be used to evaluate
both general semantic flow techniques and region-based approaches such as
proposal flow. We use these benchmarks to compare different matching
algorithms, object proposals, and region features within proposal flow, to the
state of the art in semantic flow. This comparison, along with experiments on
standard datasets, demonstrates that proposal flow significantly outperforms
existing semantic flow methods in various settings.Comment: arXiv admin note: text overlap with arXiv:1511.0506
Robust Rotation Synchronization via Low-rank and Sparse Matrix Decomposition
This paper deals with the rotation synchronization problem, which arises in
global registration of 3D point-sets and in structure from motion. The problem
is formulated in an unprecedented way as a "low-rank and sparse" matrix
decomposition that handles both outliers and missing data. A minimization
strategy, dubbed R-GoDec, is also proposed and evaluated experimentally against
state-of-the-art algorithms on simulated and real data. The results show that
R-GoDec is the fastest among the robust algorithms.Comment: The material contained in this paper is part of a manuscript
submitted to CVI
Scattered Pilots and Virtual Carriers Based Frequency Offset Tracking for OFDM Systems: Algorithms, Identifiability, and Performance Analysis
In this paper, we propose a novel carrier frequency offset (CFO) tracking algorithm for orthogonal frequency division multiplexing (OFDM) systems by exploiting scattered pilot carriers and virtual carriers embedded in the existing OFDM standards. Assuming that the channel remains constant during two consecutive OFDM blocks and perfect timing, a CFO tracking algorithm is proposed using the limited number of pilot carriers in each OFDM block. Identifiability of this pilot based algorithm is fully discussed under the noise free environment, and a constellation rotation strategy is proposed to eliminate the c-ambiguity for arbitrary constellations. A weighted algorithm is then proposed by considering both scattered pilots and virtual carriers. We find that, the pilots increase the performance accuracy of the algorithm, while the virtual carriers reduce the chance of CFO outlier. Therefore, the proposed tracking algorithm is able to achieve full range CFO estimation, can be used before channel estimation, and could provide improved performance compared to existing algorithms. The asymptotic mean square error (MSE) of the proposed algorithm is derived and simulation results agree with the theoretical analysis
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