On-Manifold Preintegration for Real-Time Visual-Inertial Odometry

Current approaches for visual-inertial odometry (VIO) are able to attain highly accurate state estimation via nonlinear optimization. However, real-time optimization quickly becomes infeasible as the trajectory grows over time, this problem is further emphasized by the fact that inertial measurements come at high rate, hence leading to fast growth of the number of variables in the optimization. In this paper, we address this issue by preintegrating inertial measurements between selected keyframes into single relative motion constraints. Our first contribution is a \emph{preintegration theory} that properly addresses the manifold structure of the rotation group. We formally discuss the generative measurement model as well as the nature of the rotation noise and derive the expression for the \emph{maximum a posteriori} state estimator. Our theoretical development enables the computation of all necessary Jacobians for the optimization and a-posteriori bias correction in analytic form. The second contribution is to show that the preintegrated IMU model can be seamlessly integrated into a visual-inertial pipeline under the unifying framework of factor graphs. This enables the application of incremental-smoothing algorithms and the use of a \emph{structureless} model for visual measurements, which avoids optimizing over the 3D points, further accelerating the computation. We perform an extensive evaluation of our monocular \VIO pipeline on real and simulated datasets. The results confirm that our modelling effort leads to accurate state estimation in real-time, outperforming state-of-the-art approaches.Comment: 20 pages, 24 figures, accepted for publication in IEEE Transactions on Robotics (TRO) 201

Towards Consistency Management for a Business-Driven Development of SOA

The usage of the Service Oriented Architecture (SOA) along with the Business Process Management has emerged as a valuable solution for the complex (business process driven) system engineering. With a Model Driven Engineering where the business process models drive the supporting service component architectures, less effort is gone into the Business/IT alignment during the initial development activities, and the IT developers can rapidly proceed with the SOA implementation. However, the difference between the design principles of the emerging domainspecific languages imposes serious challenges in the following re-design phases. Moreover, enabling evolutions on the business process models while keeping them synchronized with the underlying software architecture models is of high relevance to the key elements of any Business Driven Development (BDD). Given a business process update, this paper introduces an incremental model transformation approach that propagates this update to the related service component configurations. It, therefore, supports the change propagation among heterogenous domainspecific languages, e.g., the BPMN and the SCA. As a major contribution, our approach makes model transformation more tractable to reconfigure system architecture without disrupting its structural consistency. We propose a synchronizer that provides the BPMN-to-SCA model synchronization with the help of the conditional graph rewriting

bdbms -- A Database Management System for Biological Data

Biologists are increasingly using databases for storing and managing their data. Biological databases typically consist of a mixture of raw data, metadata, sequences, annotations, and related data obtained from various sources. Current database technology lacks several functionalities that are needed by biological databases. In this paper, we introduce bdbms, an extensible prototype database management system for supporting biological data. bdbms extends the functionalities of current DBMSs to include: (1) Annotation and provenance management including storage, indexing, manipulation, and querying of annotation and provenance as first class objects in bdbms, (2) Local dependency tracking to track the dependencies and derivations among data items, (3) Update authorization to support data curation via content-based authorization, in contrast to identity-based authorization, and (4) New access methods and their supporting operators that support pattern matching on various types of compressed biological data types. This paper presents the design of bdbms along with the techniques proposed to support these functionalities including an extension to SQL. We also outline some open issues in building bdbms.Comment: This article is published under a Creative Commons License Agreement (http://creativecommons.org/licenses/by/2.5/.) You may copy, distribute, display, and perform the work, make derivative works and make commercial use of the work, but, you must attribute the work to the author and CIDR 2007. 3rd Biennial Conference on Innovative Data Systems Research (CIDR) January 710, 2007, Asilomar, California, US

Multisensor Poisson Multi-Bernoulli Filter for Joint Target-Sensor State Tracking

In a typical multitarget tracking (MTT) scenario, the sensor state is either assumed known, or tracking is performed in the sensor's (relative) coordinate frame. This assumption does not hold when the sensor, e.g., an automotive radar, is mounted on a vehicle, and the target state should be represented in a global (absolute) coordinate frame. Then it is important to consider the uncertain location of the vehicle on which the sensor is mounted for MTT. In this paper, we present a multisensor low complexity Poisson multi-Bernoulli MTT filter, which jointly tracks the uncertain vehicle state and target states. Measurements collected by different sensors mounted on multiple vehicles with varying location uncertainty are incorporated sequentially based on the arrival of new sensor measurements. In doing so, targets observed from a sensor mounted on a well-localized vehicle reduce the state uncertainty of other poorly localized vehicles, provided that a common non-empty subset of targets is observed. A low complexity filter is obtained by approximations of the joint sensor-feature state density minimizing the Kullback-Leibler divergence (KLD). Results from synthetic as well as experimental measurement data, collected in a vehicle driving scenario, demonstrate the performance benefits of joint vehicle-target state tracking.Comment: 13 pages, 7 figure