189,696 research outputs found

    Efficient Constellation-Based Map-Merging for Semantic SLAM

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    Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments. When ambiguous measurements arise, conservatism often mandates that the measurement is discarded or a new landmark is initialized rather than risking an incorrect association. To address the inevitable `duplicate' landmarks that arise, we present an efficient map-merging framework to detect duplicate constellations of landmarks, providing a high-confidence loop-closure mechanism well-suited for object-level SLAM. This approach uses an incrementally-computable approximation of landmark uncertainty that only depends on local information in the SLAM graph, avoiding expensive recovery of the full system covariance matrix. This enables a search based on geometric consistency (GC) (rather than full joint compatibility (JC)) that inexpensively reduces the search space to a handful of `best' hypotheses. Furthermore, we reformulate the commonly-used interpretation tree to allow for more efficient integration of clique-based pairwise compatibility, accelerating the branch-and-bound max-cardinality search. Our method is demonstrated to match the performance of full JC methods at significantly-reduced computational cost, facilitating robust object-based loop-closure over large SLAM problems.Comment: Accepted to IEEE International Conference on Robotics and Automation (ICRA) 201

    WISER: A Semantic Approach for Expert Finding in Academia based on Entity Linking

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    We present WISER, a new semantic search engine for expert finding in academia. Our system is unsupervised and it jointly combines classical language modeling techniques, based on text evidences, with the Wikipedia Knowledge Graph, via entity linking. WISER indexes each academic author through a novel profiling technique which models her expertise with a small, labeled and weighted graph drawn from Wikipedia. Nodes in this graph are the Wikipedia entities mentioned in the author's publications, whereas the weighted edges express the semantic relatedness among these entities computed via textual and graph-based relatedness functions. Every node is also labeled with a relevance score which models the pertinence of the corresponding entity to author's expertise, and is computed by means of a proper random-walk calculation over that graph; and with a latent vector representation which is learned via entity and other kinds of structural embeddings derived from Wikipedia. At query time, experts are retrieved by combining classic document-centric approaches, which exploit the occurrences of query terms in the author's documents, with a novel set of profile-centric scoring strategies, which compute the semantic relatedness between the author's expertise and the query topic via the above graph-based profiles. The effectiveness of our system is established over a large-scale experimental test on a standard dataset for this task. We show that WISER achieves better performance than all the other competitors, thus proving the effectiveness of modelling author's profile via our "semantic" graph of entities. Finally, we comment on the use of WISER for indexing and profiling the whole research community within the University of Pisa, and its application to technology transfer in our University

    Combining Subgoal Graphs with Reinforcement Learning to Build a Rational Pathfinder

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    In this paper, we present a hierarchical path planning framework called SG-RL (subgoal graphs-reinforcement learning), to plan rational paths for agents maneuvering in continuous and uncertain environments. By "rational", we mean (1) efficient path planning to eliminate first-move lags; (2) collision-free and smooth for agents with kinematic constraints satisfied. SG-RL works in a two-level manner. At the first level, SG-RL uses a geometric path-planning method, i.e., Simple Subgoal Graphs (SSG), to efficiently find optimal abstract paths, also called subgoal sequences. At the second level, SG-RL uses an RL method, i.e., Least-Squares Policy Iteration (LSPI), to learn near-optimal motion-planning policies which can generate kinematically feasible and collision-free trajectories between adjacent subgoals. The first advantage of the proposed method is that SSG can solve the limitations of sparse reward and local minima trap for RL agents; thus, LSPI can be used to generate paths in complex environments. The second advantage is that, when the environment changes slightly (i.e., unexpected obstacles appearing), SG-RL does not need to reconstruct subgoal graphs and replan subgoal sequences using SSG, since LSPI can deal with uncertainties by exploiting its generalization ability to handle changes in environments. Simulation experiments in representative scenarios demonstrate that, compared with existing methods, SG-RL can work well on large-scale maps with relatively low action-switching frequencies and shorter path lengths, and SG-RL can deal with small changes in environments. We further demonstrate that the design of reward functions and the types of training environments are important factors for learning feasible policies.Comment: 20 page

    Efficient 2D-3D Matching for Multi-Camera Visual Localization

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    Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To efficiently and effectively match features against a pre-built global 3D map, we propose a prioritized feature matching scheme for multi-camera systems. In contrast to existing works, designed for monocular cameras, we (1) tailor the prioritization function to the multi-camera setup and (2) run feature matching and pose estimation in parallel. This significantly accelerates the matching and pose estimation stages and allows us to dynamically adapt the matching efforts based on the surrounding environment. In addition, we show how pose priors can be integrated into the localization system to increase efficiency and robustness. Finally, we extend our algorithm by fusing the absolute pose estimates with motion estimates from a multi-camera visual inertial odometry pipeline (VIO). This results in a system that provides reliable and drift-less pose estimation. Extensive experiments show that our localization runs fast and robust under varying conditions, and that our extended algorithm enables reliable real-time pose estimation.Comment: 7 pages, 5 figure
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