4,534 research outputs found

    Navya3DSeg -- Navya 3D Semantic Segmentation Dataset & split generation for autonomous vehicles

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    Autonomous driving (AD) perception today relies heavily on deep learning based architectures requiring large scale annotated datasets with their associated costs for curation and annotation. The 3D semantic data are useful for core perception tasks such as obstacle detection and ego-vehicle localization. We propose a new dataset, Navya 3D Segmentation (Navya3DSeg), with a diverse label space corresponding to a large scale production grade operational domain, including rural, urban, industrial sites and universities from 13 countries. It contains 23 labeled sequences and 25 supplementary sequences without labels, designed to explore self-supervised and semi-supervised semantic segmentation benchmarks on point clouds. We also propose a novel method for sequential dataset split generation based on iterative multi-label stratification, and demonstrated to achieve a +1.2% mIoU improvement over the original split proposed by SemanticKITTI dataset. A complete benchmark for semantic segmentation task was performed, with state of the art methods. Finally, we demonstrate an active learning (AL) based dataset distillation framework. We introduce a novel heuristic-free sampling method called distance sampling in the context of AL. A detailed presentation on the dataset is available at https://www.youtube.com/watch?v=5m6ALIs-s20 .Comment: Submitted to RA-L. Version with supplementary material

    A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics

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    We survey the current state of millimeterwave (mmWave) radar applications in robotics with a focus on unique capabilities, and discuss future opportunities based on the state of the art. Frequency Modulated Continuous Wave (FMCW) mmWave radars operating in the 76--81GHz range are an appealing alternative to lidars, cameras and other sensors operating in the near visual spectrum. Radar has been made more widely available in new packaging classes, more convenient for robotics and its longer wavelengths have the ability to bypass visual clutter such as fog, dust, and smoke. We begin by covering radar principles as they relate to robotics. We then review the relevant new research across a broad spectrum of robotics applications beginning with motion estimation, localization, and mapping. We then cover object detection and classification, and then close with an analysis of current datasets and calibration techniques that provide entry points into radar research.Comment: 19 Pages, 11 Figures, 2 Tables, TRO Submission pendin

    Robo3D: Towards Robust and Reliable 3D Perception against Corruptions

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    The robustness of 3D perception systems under natural corruptions from environments and sensors is pivotal for safety-critical applications. Existing large-scale 3D perception datasets often contain data that are meticulously cleaned. Such configurations, however, cannot reflect the reliability of perception models during the deployment stage. In this work, we present Robo3D, the first comprehensive benchmark heading toward probing the robustness of 3D detectors and segmentors under out-of-distribution scenarios against natural corruptions that occur in real-world environments. Specifically, we consider eight corruption types stemming from adversarial weather conditions, external disturbances, and internal sensor failure. We uncover that, although promising results have been progressively achieved on standard benchmarks, state-of-the-art 3D perception models are at risk of being vulnerable to corruptions. We draw key observations on the use of data representations, augmentation schemes, and training strategies, that could severely affect the model's performance. To pursue better robustness, we propose a density-insensitive training framework along with a simple flexible voxelization strategy to enhance the model resiliency. We hope our benchmark and approach could inspire future research in designing more robust and reliable 3D perception models. Our robustness benchmark suite is publicly available.Comment: 33 pages, 26 figures, 26 tables; code at https://github.com/ldkong1205/Robo3D project page at https://ldkong.com/Robo3

    Point cloud registration: a mini-review of current state, challenging issues and future directions

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    A point cloud is a set of data points in space. Point cloud registration is the process of aligning two or more 3D point clouds collected from different locations of the same scene. Registration enables point cloud data to be transformed into a common coordinate system, forming an integrated dataset representing the scene surveyed. In addition to those reliant on targets being placed in the scene before data capture, there are various registration methods available that are based on using only the point cloud data captured. Until recently, cloud-to-cloud registration methods have generally been centered upon the use of a coarse-to-fine optimization strategy. The challenges and limitations inherent in this process have shaped the development of point cloud registration and the associated software tools over the past three decades. Based on the success of deep learning methods applied to imagery data, attempts at applying these approaches to point cloud datasets have received much attention. This study reviews and comments on more recent developments in point cloud registration without using any targets and explores remaining issues, based on which recommendations on potential future studies in this topic are made

    DIN Spec 91345 RAMI 4.0 compliant data pipelining: An approach to support data understanding and data acquisition in smart manufacturing environments

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    Today, data scientists in the manufacturing domain are confronted with a set of challenges associated to data acquisition as well as data processing including the extraction of valuable in-formation to support both, the work of the manufacturing equipment as well as the manufacturing processes behind it. One essential aspect related to data acquisition is the pipelining, including various commu-nication standards, protocols and technologies to save and transfer heterogenous data. These circumstances make it hard to understand, find, access and extract data from the sources depend-ing on use cases and applications. In order to support this data pipelining process, this thesis proposes the use of the semantic model. The selected semantic model should be able to describe smart manufacturing assets them-selves as well as to access their data along their life-cycle. As a matter of fact, there are many research contributions in smart manufacturing, which already came out with reference architectures or standards for semantic-based meta data descrip-tion or asset classification. This research builds upon these outcomes and introduces a novel se-mantic model-based data pipelining approach using as a basis the Reference Architecture Model for Industry 4.0 (RAMI 4.0).Hoje em dia, os cientistas de dados no domínio da manufatura são confrontados com várias normas, protocolos e tecnologias de comunicação para gravar, processar e transferir vários tipos de dados. Estas circunstâncias tornam difícil compreender, encontrar, aceder e extrair dados necessários para aplicações dependentes de casos de utilização, desde os equipamentos aos respectivos processos de manufatura. Um aspecto essencial poderia ser um processo de canalisação de dados incluindo vários normas de comunicação, protocolos e tecnologias para gravar e transferir dados. Uma solução para suporte deste processo, proposto por esta tese, é a aplicação de um modelo semântico que descreva os próprios recursos de manufactura inteligente e o acesso aos seus dados ao longo do seu ciclo de vida. Muitas das contribuições de investigação em manufatura inteligente já produziram arquitecturas de referência como a RAMI 4.0 ou normas para a descrição semântica de meta dados ou classificação de recursos. Esta investigação baseia-se nestas fontes externas e introduz um novo modelo semântico baseado no Modelo de Arquitectura de Referência para Indústria 4.0 (RAMI 4.0), em conformidade com a abordagem de canalisação de dados no domínio da produção inteligente como caso exemplar de utilização para permitir uma fácil exploração, compreensão, descoberta, selecção e extracção de dados

    CITIES: Energetic Efficiency, Sustainability; Infrastructures, Energy and the Environment; Mobility and IoT; Governance and Citizenship

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    This book collects important contributions on smart cities. This book was created in collaboration with the ICSC-CITIES2020, held in San José (Costa Rica) in 2020. This book collects articles on: energetic efficiency and sustainability; infrastructures, energy and the environment; mobility and IoT; governance and citizenship

    Bibliographic Control in the Digital Ecosystem

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    With the contributions of international experts, the book aims to explore the new boundaries of universal bibliographic control. Bibliographic control is radically changing because the bibliographic universe is radically changing: resources, agents, technologies, standards and practices. Among the main topics addressed: library cooperation networks; legal deposit; national bibliographies; new tools and standards (IFLA LRM, RDA, BIBFRAME); authority control and new alliances (Wikidata, Wikibase, Identifiers); new ways of indexing resources (artificial intelligence); institutional repositories; new book supply chain; “discoverability” in the IIIF digital ecosystem; role of thesauri and ontologies in the digital ecosystem; bibliographic control and search engines

    Technologies and Applications for Big Data Value

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    This open access book explores cutting-edge solutions and best practices for big data and data-driven AI applications for the data-driven economy. It provides the reader with a basis for understanding how technical issues can be overcome to offer real-world solutions to major industrial areas. The book starts with an introductory chapter that provides an overview of the book by positioning the following chapters in terms of their contributions to technology frameworks which are key elements of the Big Data Value Public-Private Partnership and the upcoming Partnership on AI, Data and Robotics. The remainder of the book is then arranged in two parts. The first part “Technologies and Methods” contains horizontal contributions of technologies and methods that enable data value chains to be applied in any sector. The second part “Processes and Applications” details experience reports and lessons from using big data and data-driven approaches in processes and applications. Its chapters are co-authored with industry experts and cover domains including health, law, finance, retail, manufacturing, mobility, and smart cities. Contributions emanate from the Big Data Value Public-Private Partnership and the Big Data Value Association, which have acted as the European data community's nucleus to bring together businesses with leading researchers to harness the value of data to benefit society, business, science, and industry. The book is of interest to two primary audiences, first, undergraduate and postgraduate students and researchers in various fields, including big data, data science, data engineering, and machine learning and AI. Second, practitioners and industry experts engaged in data-driven systems, software design and deployment projects who are interested in employing these advanced methods to address real-world problems

    COVID-19 Outbreak and Beyond

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    The COVID-19 pandemic drastically changed our lifestyle when, on 30 January 2020, the World Health Organization declared the coronavirus disease outbreak a public health emergency of international concern. Since then, many governments have introduced unprecedented containment measures, hoping to slow the spread of the virus. International research suggests that both the pandemic and the related protective measures, such as lockdown, curfews, and social distancing, are having a profound impact on the mental health of the population. Among the most commonly observed psychological effects, there are high levels of stress, anxiety, depression, and post-traumatic symptoms, along with boredom and frustration. At the same time, the behavioral response of the population is of paramount importance to successfully contain the outbreak, creating a vicious circle in which the psychological distress impacts the willingness to comply with the protective measures, which, in turn, if prolonged, could exacerbate the population’s distress. This book includes: i) original studies on the worldwide psychological and behavioral impact of COVID-19 on targeted individuals (e.g., parents, social workers, patients affected by physical and mental disorders); ii) studies exploring the effect of COVID-19 using advanced statistical and methodological techniques (e.g., machine learning technologies); iii) research on practical applications that could help identify persons at risk, mitigate the negative effects of this situation, and offer insights to policymakers to manage the pandemic are also highly welcomed
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