167,406 research outputs found
Joint 3D Proposal Generation and Object Detection from View Aggregation
We present AVOD, an Aggregate View Object Detection network for autonomous
driving scenarios. The proposed neural network architecture uses LIDAR point
clouds and RGB images to generate features that are shared by two subnetworks:
a region proposal network (RPN) and a second stage detector network. The
proposed RPN uses a novel architecture capable of performing multimodal feature
fusion on high resolution feature maps to generate reliable 3D object proposals
for multiple object classes in road scenes. Using these proposals, the second
stage detection network performs accurate oriented 3D bounding box regression
and category classification to predict the extents, orientation, and
classification of objects in 3D space. Our proposed architecture is shown to
produce state of the art results on the KITTI 3D object detection benchmark
while running in real time with a low memory footprint, making it a suitable
candidate for deployment on autonomous vehicles. Code is at:
https://github.com/kujason/avodComment: For any inquiries contact aharakeh(at)uwaterloo(dot)c
Automating Fine Concurrency Control in Object-Oriented Databases
Several propositions were done to provide adapted concurrency control to
object-oriented databases. However, most of these proposals miss the fact that
considering solely read and write access modes on instances may lead to less
parallelism than in relational databases! This paper cope with that issue, and
advantages are numerous: (1) commutativity of methods is determined a priori
and automatically by the compiler, without measurable overhead, (2) run-time
checking of commutativity is as efficient as for compatibility, (3) inverse
operations need not be specified for recovery, (4) this scheme does not
preclude more sophisticated approaches, and, last but not least, (5) relational
and object-oriented concurrency control schemes with read and write access
modes are subsumed under this proposition
O'CIAO an object oriented programming model using CIAO Prolog
There have been several previous proposals for the integration of Object Oriented Programming features into Logic Programming, resulting in much support theory and several language proposals. However, none of these proposals seem to have made it into the mainstream. Perhaps one of the reasons for these is that the resulting languages depart too much from the standard logic programming languages to entice the average Prolog programmer. Another reason may be that most of what can be done with object-oriented programming can already be done in Prolog through the meta- and higher-order programming facilities that the language includes, albeit sometimes in a more cumbersome way. In light of this, in this paper we propose an alternative solution which is driven by two main objectives. The first one is to include only those characteristics of object-oriented programming which are cumbersome to implement in standard Prolog systems. The second one is to do this in such a way that there is minimum impact on the syntax and complexity of the language, i.e., to introduce the minimum number of new constructs, declarations, and concepts to be learned. Finally, we would like the implementation to be as straightforward as possible, ideally based on simple source to source expansions
Aspects for Graph Grammars
Aspect-oriented programming (AOP) is an extension to the object oriented paradigm that aims to provide better modularity for code that is usually scattered across an object-oriented system such as logging, authentication and distributed object handling. Aspect weaving is a novel way to compose systems, focusing on the integration of system-wide policies through pattern-action rules. While there are
several semantic proposals for representing aspects over source code and programs, aspect weaving for visual models such as graph rewriting systems is still not fully established. In this work, we propose the definition of aspect-oriented graph grammars, an extension to conventional graph grammar where aspects are modeled as transformation rules over the structure of a base graph grammar
TEMPOS: A Platform for Developing Temporal Applications on Top of Object DBMS
This paper presents TEMPOS: a set of models and languages supporting the manipulation of temporal data on top of object DBMS. The proposed models exploit object-oriented technology to meet some important, yet traditionally neglected design criteria related to legacy code migration and representation independence. Two complementary ways for accessing temporal data are offered: a query language and a visual browser. The query language, namely TempOQL, is an extension of OQL supporting the manipulation of histories regardless of their representations, through fully composable functional operators. The visual browser offers operators that facilitate several time-related interactive navigation tasks, such as studying a snapshot of a collection of objects at a given instant, or detecting and examining changes within temporal attributes and relationships. TEMPOS models and languages have been formalized both at the syntactical and the semantical level and have been implemented on top of an object DBMS. The suitability of the proposals with regard to applications' requirements has been validated through concrete case studies
Beyond Simulation: Computer Aided Control System Design Using Equation-Based Object Oriented Modelling for the Next Decade
After 20 years since their birth, equation-oriented and object-oriented modelling techniques and tools are now mature, as far as solving simulation problems is concerned. Conversely, there is still much to be done in order to provide more direct support for the design of advanced, model-based control systems, starting from object-oriented plant models. Following a brief review of the current state of the art in this field, the paper presents some proposals for future developments: open model exchange formats, automatic model-order reduction techniques, automatic derivation of simplified transfer functions, automatic derivation of LFT models, automatic generation of inverse models for robotic systems, and support for nonlinear model predictive control
Indoor Exploration and Simultaneous Trolley Collection Through Task-Oriented Environment Partitioning
In this paper, we present a simultaneous exploration and object search
framework for the application of autonomous trolley collection. For environment
representation, a task-oriented environment partitioning algorithm is presented
to extract diverse information for each sub-task. First, LiDAR data is
classified as potential objects, walls, and obstacles after outlier removal.
Segmented point clouds are then transformed into a hybrid map with the
following functional components: object proposals to avoid missing trolleys
during exploration; room layouts for semantic space segmentation; and polygonal
obstacles containing geometry information for efficient motion planning. For
exploration and simultaneous trolley collection, we propose an efficient
exploration-based object search method. First, a traveling salesman problem
with precedence constraints (TSP-PC) is formulated by grouping frontiers and
object proposals. The next target is selected by prioritizing object search
while avoiding excessive robot backtracking. Then, feasible trajectories with
adequate obstacle clearance are generated by topological graph search. We
validate the proposed framework through simulations and demonstrate the system
with real-world autonomous trolley collection tasks
Mapping UML models incorporating OCL constraints into object-Z
Focusing on object-oriented designs, this paper proposes a mapping for translating systems modelled in the Unified Modelling Language (UML) incorporating Object Constraint Language (OCL) constraints into formal software specifications in Object-Z. Joint treatment of semi-formal model constructs and constraints within a single translation framework and conversion tool is novel, and leads to the generation of much richer formal specifications than is otherwise possible. This paper complements previous analyses by paying particular attention to the generation of complete Object-Z structures. Integration of proposals to extend the OCL to include action constraints also boosts the expressivity of the translated specifications. The main features of a tool support are described
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