Attention and Anticipation in Fast Visual-Inertial Navigation

We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the robot can allocate limited resources to VIN, due to tight computational constraints. Therefore, we answer the following question: under limited resources, what are the most relevant visual cues to maximize the performance of visual-inertial navigation? Our approach has four key ingredients. First, it is task-driven, in that the selection of the visual cues is guided by a metric quantifying the VIN performance. Second, it exploits the notion of anticipation, since it uses a simplified model for forward-simulation of robot dynamics, predicting the utility of a set of visual cues over a future time horizon. Third, it is efficient and easy to implement, since it leads to a greedy algorithm for the selection of the most relevant visual cues. Fourth, it provides formal performance guarantees: we leverage submodularity to prove that the greedy selection cannot be far from the optimal (combinatorial) selection. Simulations and real experiments on agile drones show that our approach ensures state-of-the-art VIN performance while maintaining a lean processing time. In the easy scenarios, our approach outperforms appearance-based feature selection in terms of localization errors. In the most challenging scenarios, it enables accurate visual-inertial navigation while appearance-based feature selection fails to track robot's motion during aggressive maneuvers.Comment: 20 pages, 7 figures, 2 table

Low-frequency gravitational-wave science with eLISA/NGO

We review the expected science performance of the New Gravitational-Wave Observatory (NGO, a.k.a. eLISA), a mission under study by the European Space Agency for launch in the early 2020s. eLISA will survey the low-frequency gravitational-wave sky (from 0.1 mHz to 1 Hz), detecting and characterizing a broad variety of systems and events throughout the Universe, including the coalescences of massive black holes brought together by galaxy mergers; the inspirals of stellar-mass black holes and compact stars into central galactic black holes; several millions of ultracompact binaries, both detached and mass transferring, in the Galaxy; and possibly unforeseen sources such as the relic gravitational-wave radiation from the early Universe. eLISA's high signal-to-noise measurements will provide new insight into the structure and history of the Universe, and they will test general relativity in its strong-field dynamical regime.Comment: 20 pages, 8 figures, proceedings of the 9th Amaldi Conference on Gravitational Waves. Final journal version. For a longer exposition of the eLISA science case, see http://arxiv.org/abs/1201.362

End-to-End Tracking and Semantic Segmentation Using Recurrent Neural Networks

In this work we present a novel end-to-end framework for tracking and classifying a robot's surroundings in complex, dynamic and only partially observable real-world environments. The approach deploys a recurrent neural network to filter an input stream of raw laser measurements in order to directly infer object locations, along with their identity in both visible and occluded areas. To achieve this we first train the network using unsupervised Deep Tracking, a recently proposed theoretical framework for end-to-end space occupancy prediction. We show that by learning to track on a large amount of unsupervised data, the network creates a rich internal representation of its environment which we in turn exploit through the principle of inductive transfer of knowledge to perform the task of it's semantic classification. As a result, we show that only a small amount of labelled data suffices to steer the network towards mastering this additional task. Furthermore we propose a novel recurrent neural network architecture specifically tailored to tracking and semantic classification in real-world robotics applications. We demonstrate the tracking and classification performance of the method on real-world data collected at a busy road junction. Our evaluation shows that the proposed end-to-end framework compares favourably to a state-of-the-art, model-free tracking solution and that it outperforms a conventional one-shot training scheme for semantic classification

Road Friction Estimation for Connected Vehicles using Supervised Machine Learning

In this paper, the problem of road friction prediction from a fleet of connected vehicles is investigated. A framework is proposed to predict the road friction level using both historical friction data from the connected cars and data from weather stations, and comparative results from different methods are presented. The problem is formulated as a classification task where the available data is used to train three machine learning models including logistic regression, support vector machine, and neural networks to predict the friction class (slippery or non-slippery) in the future for specific road segments. In addition to the friction values, which are measured by moving vehicles, additional parameters such as humidity, temperature, and rainfall are used to obtain a set of descriptive feature vectors as input to the classification methods. The proposed prediction models are evaluated for different prediction horizons (0 to 120 minutes in the future) where the evaluation shows that the neural networks method leads to more stable results in different conditions.Comment: Published at IV 201