307,344 research outputs found
CRL at Ntcir2
We have developed systems of two types for NTCIR2. One is an enhenced version
of the system we developed for NTCIR1 and IREX. It submitted retrieval results
for JJ and CC tasks. A variety of parameters were tried with the system. It
used such characteristics of newspapers as locational information in the CC
tasks. The system got good results for both of the tasks. The other system is a
portable system which avoids free parameters as much as possible. The system
submitted retrieval results for JJ, JE, EE, EJ, and CC tasks. The system
automatically determined the number of top documents and the weight of the
original query used in automatic-feedback retrieval. It also determined
relevant terms quite robustly. For EJ and JE tasks, it used document expansion
to augment the initial queries. It achieved good results, except on the CC
tasks.Comment: 11 pages. Computation and Language. This paper describes our results
of information retrieval in the NTCIR2 contes
Technical Report: A Receding Horizon Algorithm for Informative Path Planning with Temporal Logic Constraints
This technical report is an extended version of the paper 'A Receding Horizon
Algorithm for Informative Path Planning with Temporal Logic Constraints'
accepted to the 2013 IEEE International Conference on Robotics and Automation
(ICRA). This paper considers the problem of finding the most informative path
for a sensing robot under temporal logic constraints, a richer set of
constraints than have previously been considered in information gathering. An
algorithm for informative path planning is presented that leverages tools from
information theory and formal control synthesis, and is proven to give a path
that satisfies the given temporal logic constraints. The algorithm uses a
receding horizon approach in order to provide a reactive, on-line solution
while mitigating computational complexity. Statistics compiled from multiple
simulation studies indicate that this algorithm performs better than a baseline
exhaustive search approach.Comment: Extended version of paper accepted to 2013 IEEE International
Conference on Robotics and Automation (ICRA
Doodle to Search: Practical Zero-Shot Sketch-based Image Retrieval
In this paper, we investigate the problem of zero-shot sketch-based image
retrieval (ZS-SBIR), where human sketches are used as queries to conduct
retrieval of photos from unseen categories. We importantly advance prior arts
by proposing a novel ZS-SBIR scenario that represents a firm step forward in
its practical application. The new setting uniquely recognizes two important
yet often neglected challenges of practical ZS-SBIR, (i) the large domain gap
between amateur sketch and photo, and (ii) the necessity for moving towards
large-scale retrieval. We first contribute to the community a novel ZS-SBIR
dataset, QuickDraw-Extended, that consists of 330,000 sketches and 204,000
photos spanning across 110 categories. Highly abstract amateur human sketches
are purposefully sourced to maximize the domain gap, instead of ones included
in existing datasets that can often be semi-photorealistic. We then formulate a
ZS-SBIR framework to jointly model sketches and photos into a common embedding
space. A novel strategy to mine the mutual information among domains is
specifically engineered to alleviate the domain gap. External semantic
knowledge is further embedded to aid semantic transfer. We show that, rather
surprisingly, retrieval performance significantly outperforms that of
state-of-the-art on existing datasets that can already be achieved using a
reduced version of our model. We further demonstrate the superior performance
of our full model by comparing with a number of alternatives on the newly
proposed dataset. The new dataset, plus all training and testing code of our
model, will be publicly released to facilitate future researchComment: Oral paper in CVPR 201
Robust and Fast 3D Scan Alignment using Mutual Information
This paper presents a mutual information (MI) based algorithm for the
estimation of full 6-degree-of-freedom (DOF) rigid body transformation between
two overlapping point clouds. We first divide the scene into a 3D voxel grid
and define simple to compute features for each voxel in the scan. The two scans
that need to be aligned are considered as a collection of these features and
the MI between these voxelized features is maximized to obtain the correct
alignment of scans. We have implemented our method with various simple point
cloud features (such as number of points in voxel, variance of z-height in
voxel) and compared the performance of the proposed method with existing
point-to-point and point-to- distribution registration methods. We show that
our approach has an efficient and fast parallel implementation on GPU, and
evaluate the robustness and speed of the proposed algorithm on two real-world
datasets which have variety of dynamic scenes from different environments
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