Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

Data-Driven Shape Analysis and Processing

Data-driven methods play an increasingly important role in discovering geometric, structural, and semantic relationships between 3D shapes in collections, and applying this analysis to support intelligent modeling, editing, and visualization of geometric data. In contrast to traditional approaches, a key feature of data-driven approaches is that they aggregate information from a collection of shapes to improve the analysis and processing of individual shapes. In addition, they are able to learn models that reason about properties and relationships of shapes without relying on hard-coded rules or explicitly programmed instructions. We provide an overview of the main concepts and components of these techniques, and discuss their application to shape classification, segmentation, matching, reconstruction, modeling and exploration, as well as scene analysis and synthesis, through reviewing the literature and relating the existing works with both qualitative and numerical comparisons. We conclude our report with ideas that can inspire future research in data-driven shape analysis and processing.Comment: 10 pages, 19 figure

RefDiff: Detecting Refactorings in Version Histories

Refactoring is a well-known technique that is widely adopted by software engineers to improve the design and enable the evolution of a system. Knowing which refactoring operations were applied in a code change is a valuable information to understand software evolution, adapt software components, merge code changes, and other applications. In this paper, we present RefDiff, an automated approach that identifies refactorings performed between two code revisions in a git repository. RefDiff employs a combination of heuristics based on static analysis and code similarity to detect 13 well-known refactoring types. In an evaluation using an oracle of 448 known refactoring operations, distributed across seven Java projects, our approach achieved precision of 100% and recall of 88%. Moreover, our evaluation suggests that RefDiff has superior precision and recall than existing state-of-the-art approaches.Comment: Paper accepted at 14th International Conference on Mining Software Repositories (MSR), pages 1-11, 201