Single-Shot Clothing Category Recognition in Free-Configurations with Application to Autonomous Clothes Sorting

This paper proposes a single-shot approach for recognising clothing categories from 2.5D features. We propose two visual features, BSP (B-Spline Patch) and TSD (Topology Spatial Distances) for this task. The local BSP features are encoded by LLC (Locality-constrained Linear Coding) and fused with three different global features. Our visual feature is robust to deformable shapes and our approach is able to recognise the category of unknown clothing in unconstrained and random configurations. We integrated the category recognition pipeline with a stereo vision system, clothing instance detection, and dual-arm manipulators to achieve an autonomous sorting system. To verify the performance of our proposed method, we build a high-resolution RGBD clothing dataset of 50 clothing items of 5 categories sampled in random configurations (a total of 2,100 clothing samples). Experimental results show that our approach is able to reach 83.2\% accuracy while classifying clothing items which were previously unseen during training. This advances beyond the previous state-of-the-art by 36.2\%. Finally, we evaluate the proposed approach in an autonomous robot sorting system, in which the robot recognises a clothing item from an unconstrained pile, grasps it, and sorts it into a box according to its category. Our proposed sorting system achieves reasonable sorting success rates with single-shot perception.Comment: 9 pages, accepted by IROS201

Building Efficient Query Engines in a High-Level Language

Abstraction without regret refers to the vision of using high-level programming languages for systems development without experiencing a negative impact on performance. A database system designed according to this vision offers both increased productivity and high performance, instead of sacrificing the former for the latter as is the case with existing, monolithic implementations that are hard to maintain and extend. In this article, we realize this vision in the domain of analytical query processing. We present LegoBase, a query engine written in the high-level language Scala. The key technique to regain efficiency is to apply generative programming: LegoBase performs source-to-source compilation and optimizes the entire query engine by converting the high-level Scala code to specialized, low-level C code. We show how generative programming allows to easily implement a wide spectrum of optimizations, such as introducing data partitioning or switching from a row to a column data layout, which are difficult to achieve with existing low-level query compilers that handle only queries. We demonstrate that sufficiently powerful abstractions are essential for dealing with the complexity of the optimization effort, shielding developers from compiler internals and decoupling individual optimizations from each other. We evaluate our approach with the TPC-H benchmark and show that: (a) With all optimizations enabled, LegoBase significantly outperforms a commercial database and an existing query compiler. (b) Programmers need to provide just a few hundred lines of high-level code for implementing the optimizations, instead of complicated low-level code that is required by existing query compilation approaches. (c) The compilation overhead is low compared to the overall execution time, thus making our approach usable in practice for compiling query engines

Earth observing system. Data and information system. Volume 2A: Report of the EOS Data Panel

The purpose of this report is to provide NASA with a rationale and recommendations for planning, implementing, and operating an Earth Observing System data and information system that can evolve to meet the Earth Observing System's needs in the 1990s. The Earth Observing System (Eos), defined by the Eos Science and Mission Requirements Working Group, consists of a suite of instruments in low Earth orbit acquiring measurements of the Earth's atmosphere, surface, and interior; an information system to support scientific research; and a vigorous program of scientific research, stressing study of global-scale processes that shape and influence the Earth as a system. The Eos data and information system is conceived as a complete research information system that would transcend the traditional mission data system, and include additional capabilties such as maintaining long-term, time-series data bases and providing access by Eos researchers to relevant non-Eos data. The Working Group recommends that the Eos data and information system be initiated now, with existing data, and that the system evolve into one that can meet the intensive research and data needs that will exist when Eos spacecraft are returning data in the 1990s

When Things Matter: A Data-Centric View of the Internet of Things

With the recent advances in radio-frequency identification (RFID), low-cost wireless sensor devices, and Web technologies, the Internet of Things (IoT) approach has gained momentum in connecting everyday objects to the Internet and facilitating machine-to-human and machine-to-machine communication with the physical world. While IoT offers the capability to connect and integrate both digital and physical entities, enabling a whole new class of applications and services, several significant challenges need to be addressed before these applications and services can be fully realized. A fundamental challenge centers around managing IoT data, typically produced in dynamic and volatile environments, which is not only extremely large in scale and volume, but also noisy, and continuous. This article surveys the main techniques and state-of-the-art research efforts in IoT from data-centric perspectives, including data stream processing, data storage models, complex event processing, and searching in IoT. Open research issues for IoT data management are also discussed

Towards information profiling: data lake content metadata management

There is currently a burst of Big Data (BD) processed and stored in huge raw data repositories, commonly called Data Lakes (DL). These BD require new techniques of data integration and schema alignment in order to make the data usable by its consumers and to discover the relationships linking their content. This can be provided by metadata services which discover and describe their content. However, there is currently a lack of a systematic approach for such kind of metadata discovery and management. Thus, we propose a framework for the profiling of informational content stored in the DL, which we call information profiling. The profiles are stored as metadata to support data analysis. We formally define a metadata management process which identifies the key activities required to effectively handle this.We demonstrate the alternative techniques and performance of our process using a prototype implementation handling a real-life case-study from the OpenML DL, which showcases the value and feasibility of our approach.Peer ReviewedPostprint (author's final draft