A novel rapid method for viewshed computation on DEM through max-pooling and min-expected height

Viewshed computation of a digital elevation model (DEM) plays an important role in a geographic information system, but the required high computational time is a serious problem for a practical application. Hitherto, the mainstream methods of viewshed computing include line-of-sight method, reference planes method, etc. Based on these classical algorithms, a new algorithm for viewshed computation is proposed in this paper: the Matryoshka doll algorithm. Through a pooling operation, the minimum expected height of the DEM is introduced as max-pooling with minimum expected height in the viewshed computing optimization. This is to increase the efficiency and adaptability of the computation of the visibility range. The experimental results demonstrate that the algorithm has obvious advantages in computing speed, but with the accuracy only slightly reduced

Hierarchical occlusion culling for arbitrarily-meshed height fields

Many graphics applications today have need for high-speed 3-D visualization of height fields. Most of these applications deal with the display of digital terrain models characterized by a simple, but vast, non-overlapping mesh of triangles. A great deal of research has been done to find methods of optimizing such systems. The goal of this work is to establish an algorithm to efficiently preprocess a hierarchical height field model that enables the real-time culling of occluded geometry while still allowing for classic terrain-rendering frameworks. By exploiting the planar-monotone characteristics of height fields, it is possible to create a unique and efficient occlusion culling method that is optimized for terrain rendering and similar applications. Previous work has shown that culling is possible with certain regularly-gridded height field models, but not until now has a system been shown to work with all height fields, regardless of how their meshes are constructed. By freeing the system of meshing restrictions, it is possible to incorporate a number of broader height field algorithms with widely-used applications such as flight simulators, GIS systems, and computer games

GUARDIANS final report

Emergencies in industrial warehouses are a major concern for firefghters. The large dimensions together with the development of dense smoke that drastically reduces visibility, represent major challenges. The Guardians robot swarm is designed to assist fire fighters in searching a large warehouse. In this report we discuss the technology developed for a swarm of robots searching and assisting fire fighters. We explain the swarming algorithms which provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also one of the means to locate the robots and humans. Thus the robot swarm is able to locate itself and provide guidance information to the humans. Together with the re ghters we explored how the robot swarm should feed information back to the human fire fighter. We have designed and experimented with interfaces for presenting swarm based information to human beings

Catalyst Acceleration for Gradient-Based Non-Convex Optimization

We introduce a generic scheme to solve nonconvex optimization problems using gradient-based algorithms originally designed for minimizing convex functions. Even though these methods may originally require convexity to operate, the proposed approach allows one to use them on weakly convex objectives, which covers a large class of non-convex functions typically appearing in machine learning and signal processing. In general, the scheme is guaranteed to produce a stationary point with a worst-case efficiency typical of first-order methods, and when the objective turns out to be convex, it automatically accelerates in the sense of Nesterov and achieves near-optimal convergence rate in function values. These properties are achieved without assuming any knowledge about the convexity of the objective, by automatically adapting to the unknown weak convexity constant. We conclude the paper by showing promising experimental results obtained by applying our approach to incremental algorithms such as SVRG and SAGA for sparse matrix factorization and for learning neural networks

VPP: Visibility-Based Path Planning Heuristic for Monitoring Large Regions of Complex Terrain Using a UAV Onboard Camera

This work was partially supported by the Spanish Ministry of Science and Technology through the projects TIN2016-80920-R and PID2019-105396RB-I00, the Regional Government of Andalusia through the project A-TIC-458-UGR18 (DeepL-ISCO) within the Andalucia ERDF2014-20 Operational Programme, and the University of Malaga through the I Plan Propio de Investigacion.The use of unmanned aerial vehicles with multiple onboard sensors has grown significantly in tasks involving terrain coverage such as environmental and civil monitoring, disaster management, and forest fire fighting. Many of these tasks require a quick and early response, which makes maximizing the land covered from the flight path a challenging objective, especially when the area to bemonitored is irregular, large and includesmany blind spots. Accordingly, state-of-the-art total viewshed algorithms can be of great help to analyze large areas and find new paths providing maximum visibility. This article shows how the total viewshed computation is a valuable tool for generating paths that provide maximum visibility during a flight. We introduce a new heuristic called visibility-based path planning (VPP) that offers a different solution to the path planning problem. VPP identifies the hidden areas of the target territory to generate a path that provides the highest visual coverage. Simulation results show that VPP can cover up to 98.7% of theMontes deMalaga Natural Park and 94.5% of the Sierra de las Nieves National Park, both located within the province of Malaga (Spain) and chosen as regions of interest. In addition, a real flight test confirmed the high visibility achieved using VPP. Our methodology and analysis can be easily applied to enhance monitoring in other large outdoor areas.Spanish Government TIN2016-80920-R PID2019-105396RB-I00Regional Government of Andalusia within the Andalucia ERDF2014-20 Operational Programme A-TIC-458-UGR18University of Malaga through the I Plan Propio de Investigacio

Hybrid Satellite-Terrestrial Communication Networks for the Maritime Internet of Things: Key Technologies, Opportunities, and Challenges

With the rapid development of marine activities, there has been an increasing number of maritime mobile terminals, as well as a growing demand for high-speed and ultra-reliable maritime communications to keep them connected. Traditionally, the maritime Internet of Things (IoT) is enabled by maritime satellites. However, satellites are seriously restricted by their high latency and relatively low data rate. As an alternative, shore & island-based base stations (BSs) can be built to extend the coverage of terrestrial networks using fourth-generation (4G), fifth-generation (5G), and beyond 5G services. Unmanned aerial vehicles can also be exploited to serve as aerial maritime BSs. Despite of all these approaches, there are still open issues for an efficient maritime communication network (MCN). For example, due to the complicated electromagnetic propagation environment, the limited geometrically available BS sites, and rigorous service demands from mission-critical applications, conventional communication and networking theories and methods should be tailored for maritime scenarios. Towards this end, we provide a survey on the demand for maritime communications, the state-of-the-art MCNs, and key technologies for enhancing transmission efficiency, extending network coverage, and provisioning maritime-specific services. Future challenges in developing an environment-aware, service-driven, and integrated satellite-air-ground MCN to be smart enough to utilize external auxiliary information, e.g., sea state and atmosphere conditions, are also discussed