Efficient Decentralized Visual Place Recognition From Full-Image Descriptors

In this paper, we discuss the adaptation of our decentralized place recognition method described in [1] to full image descriptors. As we had shown, the key to making a scalable decentralized visual place recognition lies in exploting deterministic key assignment in a distributed key-value map. Through this, it is possible to reduce bandwidth by up to a factor of n, the robot count, by casting visual place recognition to a key-value lookup problem. In [1], we exploited this for the bag-of-words method [3], [4]. Our method of casting bag-of-words, however, results in a complex decentralized system, which has inherently worse recall than its centralized counterpart. In this paper, we instead start from the recent full-image description method NetVLAD [5]. As we show, casting this to a key-value lookup problem can be achieved with k-means clustering, and results in a much simpler system than [1]. The resulting system still has some flaws, albeit of a completely different nature: it suffers when the environment seen during deployment lies in a different distribution in feature space than the environment seen during training.Comment: 3 pages, 4 figures. This is a self-published paper that accompanies our original work [1] as well as the ICRA 2017 Workshop on Multi-robot Perception-Driven Control and Planning [2

Revenue Recognition: Current Practice, Historical Abuses and a Possible Solution

Users of financial statements consider revenue to be a key indicator of financial performance. Thus, proper revenue recognition is important. This paper provides a discussion of revenue recognition principles and practices. A discussion is provided of the Financial Accounting Standards Board’s (FASB) conceptual framework as it applies to revenue recognition. In addition, a discussion is provided on SEC guidance and specific applications of revenue recognition. According to the FASB, there are over 200 pieces of “ad hoc” guidance for revenue recognition. Because of inconsistencies in this guidance, the FASB and the International Accounting Standards Board (IASB) have engaged in a project to create a single revenue-recognition standard. The current status of this project, which began in 2002, is analyzed in the final section of this paper

Pattern recognition receptors as key players in adrenal gland dysfunction during sepsis

Background: Undergoing systemic inflammation, the innate immune system releases excessive proinflammatory mediators, which finally can lead to organ failure. Pattern recognition receptors (PRRs), such as Toll-like receptors (TLRs) and NOD-like receptors (NLRs), form the interface between bacterial and viral toxins and innate immunity. During sepsis, patients with diagnosed adrenal gland insufficiency are at high risk of developing a multiorgan dysfunction syndrome, which dramatically increases the risk of mortality. To date, little is known about the mechanisms leading to adrenal dysfunction under septic conditions. Here, we investigated the sepsis-related activation of the PRRs, cell inflammation, and apoptosis within adrenal glands. Methods: Two sepsis models were performed: the polymicrobial sepsis model (caecal ligation and puncture (CLP)) and the LTA-induced intoxication model. All experiments received institutional approval by the Regierungspräsidium Darmstadt. CLP was performed as previously described [1], wherein one-third of the caecum was ligated and punctured with a 20-gauge needle. For LTA-induced systemic inflammation, TLR2 knockout (TLR2-/-) and WT mice were injected intraperitoneally with pure LTA (pLTA; 1 mg/kg) or PBS for 2 hours. To detect potential direct adrenal dysfunction, mice were additionally injected with adrenocorticotropic hormone (ACTH; 100 μg/kg) 1 hour after pLTA or PBS. Adrenals and plasma samples were taken. Gene expressions in the adrenals (rt-PCR), cytokine release (multiplex assay), and the apoptosis rate (TUNEL assay) within the adrenals were determined. Results: In both models, adrenals showed increased mRNA expression of TLR2 and TLR4, various NLRs, cytokines as well as inflammasome components, NADPH oxidase subunits, and nitric oxide synthases (data not shown). In WT mice, ACTH alone had no effect on inflammation, while pLTA or pLTA/ACTH administration showed increased levels of the cytokines IL-1β, IL-6, and TNFα. TLR2-/- mice indicated no response as expected (Figure 1, left). Interestingly, surviving CLP mice showed no inflammatory adrenal response, whereas nonsurvivors had elevated cytokine levels (Figure 1, right). Additionally, we identified a marked increase in apoptosis of both chromaffin and steroid-producing cells in adrenal glands obtained from mice with sepsis as compared with their controls (Figure 2). ... Conclusion: Taken together, sepsis-induced activation of the PRRs may contribute to adrenal impairment by enhancing tissue inflammation, oxidative stress and culminate in cellular apoptosis, while mortality seems to be associated with adrenal inflammation

Monocular SLAM Supported Object Recognition

In this work, we develop a monocular SLAM-aware object recognition system that is able to achieve considerably stronger recognition performance, as compared to classical object recognition systems that function on a frame-by-frame basis. By incorporating several key ideas including multi-view object proposals and efficient feature encoding methods, our proposed system is able to detect and robustly recognize objects in its environment using a single RGB camera in near-constant time. Through experiments, we illustrate the utility of using such a system to effectively detect and recognize objects, incorporating multiple object viewpoint detections into a unified prediction hypothesis. The performance of the proposed recognition system is evaluated on the UW RGB-D Dataset, showing strong recognition performance and scalable run-time performance compared to current state-of-the-art recognition systems.Comment: Accepted to appear at Robotics: Science and Systems 2015, Rome, Ital

Inversion improves the recognition of facial expression in thatcherized images

The Thatcher illusion provides a compelling example of the face inversion effect. However, the marked effect of inversion in the Thatcher illusion contrasts to other studies that report only a small effect of inversion on the recognition of facial expressions. To address this discrepancy, we compared the effects of inversion and thatcherization on the recognition of facial expressions. We found that inversion of normal faces caused only a small reduction in the recognition of facial expressions. In contrast, local inversion of facial features in upright thatcherized faces resulted in a much larger reduction in the recognition of facial expressions. Paradoxically, inversion of thatcherized faces caused a relative increase in the recognition of facial expressions. Together, these results suggest that different processes explain the effects of inversion on the recognition of facial expressions and on the perception of the Thatcher illusion. The grotesque perception of thatcherized images is based on a more orientation-sensitive representation of the face. In contrast, the recognition of facial expression is dependent on a more orientation-insensitive representation. A similar pattern of results was evident when only the mouth or eye region was visible. These findings demonstrate that a key component of the Thatcher illusion is to be found in orientation-specific encoding of the features of the face

VoxCeleb2: Deep Speaker Recognition

The objective of this paper is speaker recognition under noisy and unconstrained conditions. We make two key contributions. First, we introduce a very large-scale audio-visual speaker recognition dataset collected from open-source media. Using a fully automated pipeline, we curate VoxCeleb2 which contains over a million utterances from over 6,000 speakers. This is several times larger than any publicly available speaker recognition dataset. Second, we develop and compare Convolutional Neural Network (CNN) models and training strategies that can effectively recognise identities from voice under various conditions. The models trained on the VoxCeleb2 dataset surpass the performance of previous works on a benchmark dataset by a significant margin.Comment: To appear in Interspeech 2018. The audio-visual dataset can be downloaded from http://www.robots.ox.ac.uk/~vgg/data/voxceleb2 . 1806.05622v2: minor fixes; 5 page

On Truth & Recognition

In ancient Greek dramas, the point of discovery, or the dawning of insight in the understanding of the protagonist, is known as anagnorisis in Greek; recognition in English. Within the story, the audience is made aware of information that the hero does not know, raising tension and suspense within the narrative. Then, in a pivotal encounter with some aspect of truth, insight is given, and recognition holds the key to resolving issues of crisis or opportunity as the story develops