Through a glass darkly: a case for the study of virtual space

This paper begins to examine the similarities and differences between virtual space and real space, as taken from anarchitectural (as opposed to a biological, psychological, geographic, philosophical or information theoretic)standpoint. It continues by introducing a number of criteria, suggested by the authors as being necessary for virtualspace to be used in a manner consistent with our experience of real space. Finally, it concludes by suggesting apedagogical framework for the benefits and associated learning outcomes of the study and examination of thisrelationship. This is accompanied by examples of recent student work, which set out to investigate this relationship

Through a glass darkly: a case for the study of virtual space

This paper begins to examine the similarities and differences between virtual space and real space, as taken from anarchitectural (as opposed to a biological, psychological, geographic, philosophical or information theoretic)standpoint. It continues by introducing a number of criteria, suggested by the authors as being necessary for virtualspace to be used in a manner consistent with our experience of real space. Finally, it concludes by suggesting apedagogical framework for the benefits and associated learning outcomes of the study and examination of thisrelationship. This is accompanied by examples of recent student work, which set out to investigate this relationship

Network Uncertainty Informed Semantic Feature Selection for Visual SLAM

In order to facilitate long-term localization using a visual simultaneous localization and mapping (SLAM) algorithm, careful feature selection can help ensure that reference points persist over long durations and the runtime and storage complexity of the algorithm remain consistent. We present SIVO (Semantically Informed Visual Odometry and Mapping), a novel information-theoretic feature selection method for visual SLAM which incorporates semantic segmentation and neural network uncertainty into the feature selection pipeline. Our algorithm selects points which provide the highest reduction in Shannon entropy between the entropy of the current state and the joint entropy of the state, given the addition of the new feature with the classification entropy of the feature from a Bayesian neural network. Each selected feature significantly reduces the uncertainty of the vehicle state and has been detected to be a static object (building, traffic sign, etc.) repeatedly with a high confidence. This selection strategy generates a sparse map which can facilitate long-term localization. The KITTI odometry dataset is used to evaluate our method, and we also compare our results against ORB_SLAM2. Overall, SIVO performs comparably to the baseline method while reducing the map size by almost 70%.Comment: Published in: 2019 16th Conference on Computer and Robot Vision (CRV

Information-Theoretic Active Learning for Content-Based Image Retrieval

We propose Information-Theoretic Active Learning (ITAL), a novel batch-mode active learning method for binary classification, and apply it for acquiring meaningful user feedback in the context of content-based image retrieval. Instead of combining different heuristics such as uncertainty, diversity, or density, our method is based on maximizing the mutual information between the predicted relevance of the images and the expected user feedback regarding the selected batch. We propose suitable approximations to this computationally demanding problem and also integrate an explicit model of user behavior that accounts for possible incorrect labels and unnameable instances. Furthermore, our approach does not only take the structure of the data but also the expected model output change caused by the user feedback into account. In contrast to other methods, ITAL turns out to be highly flexible and provides state-of-the-art performance across various datasets, such as MIRFLICKR and ImageNet.Comment: GCPR 2018 paper (14 pages text + 2 pages references + 6 pages appendix

A Probabilistic Interpretation of Sampling Theory of Graph Signals

We give a probabilistic interpretation of sampling theory of graph signals. To do this, we first define a generative model for the data using a pairwise Gaussian random field (GRF) which depends on the graph. We show that, under certain conditions, reconstructing a graph signal from a subset of its samples by least squares is equivalent to performing MAP inference on an approximation of this GRF which has a low rank covariance matrix. We then show that a sampling set of given size with the largest associated cut-off frequency, which is optimal from a sampling theoretic point of view, minimizes the worst case predictive covariance of the MAP estimate on the GRF. This interpretation also gives an intuitive explanation for the superior performance of the sampling theoretic approach to active semi-supervised classification.Comment: 5 pages, 2 figures, To appear in International Conference on Acoustics, Speech, and Signal Processing (ICASSP) 201