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

Enhanced Channel Estimation in mm-Wave MIMO Systems Leveraging Integrated Communication and Sensing

This paper tackles the challenge of wideband MIMO channel estimation within indoor millimeter-wave scenarios. Our proposed approach exploits the integrated sensing and communication paradigm, where sensing information aids in channel estimation. The key innovation consists of employing both spatial and temporal sensing modes to significantly reduce the number of required training pilots. Moreover, our algorithm addresses and corrects potential mismatches between sensing and communication modes, which can arise from differing sensing and communication propagation paths. Extensive simulations demonstrate that the proposed method requires 4x less pilots compared to the current state-of-the-art, marking a substantial advancement in channel estimation efficiency

Active Classification for POMDPs: a Kalman-like State Estimator

The problem of state tracking with active observation control is considered for a system modeled by a discrete-time, finite-state Markov chain observed through conditionally Gaussian measurement vectors. The measurement model statistics are shaped by the underlying state and an exogenous control input, which influence the observations' quality. Exploiting an innovations approach, an approximate minimum mean-squared error (MMSE) filter is derived to estimate the Markov chain system state. To optimize the control strategy, the associated mean-squared error is used as an optimization criterion in a partially observable Markov decision process formulation. A stochastic dynamic programming algorithm is proposed to solve for the optimal solution. To enhance the quality of system state estimates, approximate MMSE smoothing estimators are also derived. Finally, the performance of the proposed framework is illustrated on the problem of physical activity detection in wireless body sensing networks. The power of the proposed framework lies within its ability to accommodate a broad spectrum of active classification applications including sensor management for object classification and tracking, estimation of sparse signals and radar scheduling.Comment: 38 pages, 6 figure

Joint Tensor Factorization and Outlying Slab Suppression with Applications

We consider factoring low-rank tensors in the presence of outlying slabs. This problem is important in practice, because data collected in many real-world applications, such as speech, fluorescence, and some social network data, fit this paradigm. Prior work tackles this problem by iteratively selecting a fixed number of slabs and fitting, a procedure which may not converge. We formulate this problem from a group-sparsity promoting point of view, and propose an alternating optimization framework to handle the corresponding $\ell_p$ ($0<p\leq 1$) minimization-based low-rank tensor factorization problem. The proposed algorithm features a similar per-iteration complexity as the plain trilinear alternating least squares (TALS) algorithm. Convergence of the proposed algorithm is also easy to analyze under the framework of alternating optimization and its variants. In addition, regularization and constraints can be easily incorporated to make use of \emph{a priori} information on the latent loading factors. Simulations and real data experiments on blind speech separation, fluorescence data analysis, and social network mining are used to showcase the effectiveness of the proposed algorithm

Spatial Statistical Data Fusion on Java-enabled Machines in Ubiquitous Sensor Networks

Wireless Sensor Networks (WSN) consist of small, cheap devices that have a combination of sensing, computing and communication capabilities. They must be able to communicate and process data efficiently using minimum amount of energy and cover an area of interest with the minimum number of sensors. This thesis proposes the use of techniques that were designed for Geostatistics and applies them to WSN field. Kriging and Cokriging interpolation that can be considered as Information Fusion algorithms were tested to prove the feasibility of the methods to increase coverage. To reduce energy consumption, a compression method that models correlations based on variograms was developed. A second challenge is to establish the communication to the external networks and to react to unexpected events. A demonstrator that uses commercial Java-enabled devices was implemented. It is able to perform remote monitoring, send SMS alarms and deploy remote updates