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

DeepICP: An End-to-End Deep Neural Network for 3D Point Cloud Registration

We present DeepICP - a novel end-to-end learning-based 3D point cloud registration framework that achieves comparable registration accuracy to prior state-of-the-art geometric methods. Different from other keypoint based methods where a RANSAC procedure is usually needed, we implement the use of various deep neural network structures to establish an end-to-end trainable network. Our keypoint detector is trained through this end-to-end structure and enables the system to avoid the inference of dynamic objects, leverages the help of sufficiently salient features on stationary objects, and as a result, achieves high robustness. Rather than searching the corresponding points among existing points, the key contribution is that we innovatively generate them based on learned matching probabilities among a group of candidates, which can boost the registration accuracy. Our loss function incorporates both the local similarity and the global geometric constraints to ensure all above network designs can converge towards the right direction. We comprehensively validate the effectiveness of our approach using both the KITTI dataset and the Apollo-SouthBay dataset. Results demonstrate that our method achieves comparable or better performance than the state-of-the-art geometry-based methods. Detailed ablation and visualization analysis are included to further illustrate the behavior and insights of our network. The low registration error and high robustness of our method makes it attractive for substantial applications relying on the point cloud registration task.Comment: 10 pages, 6 figures, 3 tables, typos corrected, experimental results updated, accepted by ICCV 201

Design and Evaluation of Data Dissemination Algorithms to Improve Object Detection in Autonomous Driving Networks

In the last few years, the amount of information that is produced by an autonomous vehicle is increasing proportionally with the number and resolution of sensors that cars are equipped with. Cars can be provided with cameras and Light Detection and Ranging (LiDAR) sensors, respectively needed to obtain a two-dimensional (2D) and three-dimensional (3D) representation of the environment. Due to the huge amount of data that multiple self-driving vehicles can push over a communication network, how these data are selected, stored, and sent is crucial. Various techniques have been developed to manage vehicular data; for example, compression can be used to alleviate the burden of data transmission over bandwidth-constrained channels and facilitate real-time communications. However, aggressive levels of compression may corrupt automotive data, and prevent proper detection of critical road objects in the scene. Along these lines, in this thesis, we studied the trade-off between compression efficiency and accuracy. To do so, we considered synthetic automotive data generated from the SELMA dataset. Then, we compared the performance of several state-of-the-art algorithms, based on machine learning, for compressing and detecting objects on LiDAR point clouds. We were able to reduce the point cloud by tens to hundreds times without any significant loss in the final detection accuracy. In a second phase, we focused our attention on the optimization of the number and type of sensors that are more meaningful to object detection operations. Notably, we tested our dataset on a sensor fusion algorithm that can combine both 2D and 3D data to have a better understanding of the environment. The results show that, although sensor fusion always achieves more accurate detections, using 3D inputs only can obtain similar results for large objects while mitigating the burden on the channel.In the last few years, the amount of information that is produced by an autonomous vehicle is increasing proportionally with the number and resolution of sensors that cars are equipped with. Cars can be provided with cameras and Light Detection and Ranging (LiDAR) sensors, respectively needed to obtain a two-dimensional (2D) and three-dimensional (3D) representation of the environment. Due to the huge amount of data that multiple self-driving vehicles can push over a communication network, how these data are selected, stored, and sent is crucial. Various techniques have been developed to manage vehicular data; for example, compression can be used to alleviate the burden of data transmission over bandwidth-constrained channels and facilitate real-time communications. However, aggressive levels of compression may corrupt automotive data, and prevent proper detection of critical road objects in the scene. Along these lines, in this thesis, we studied the trade-off between compression efficiency and accuracy. To do so, we considered synthetic automotive data generated from the SELMA dataset. Then, we compared the performance of several state-of-the-art algorithms, based on machine learning, for compressing and detecting objects on LiDAR point clouds. We were able to reduce the point cloud by tens to hundreds times without any significant loss in the final detection accuracy. In a second phase, we focused our attention on the optimization of the number and type of sensors that are more meaningful to object detection operations. Notably, we tested our dataset on a sensor fusion algorithm that can combine both 2D and 3D data to have a better understanding of the environment. The results show that, although sensor fusion always achieves more accurate detections, using 3D inputs only can obtain similar results for large objects while mitigating the burden on the channel

Semantically-enhanced recommendations in cultural heritage

In the Web 2.0 environment, institutes and organizations are starting to open up their previously isolated and heterogeneous collections in order to provide visitors with maximal access. Semantic Web technologies act as instrumental in integrating these rich collections of metadata by defining ontologies which accommodate different representation schemata and inconsistent naming conventions over the various vocabularies. Facing the large amount of metadata with complex semantic structures, it is becoming more and more important to support visitors with a proper selection and presentation of information. In this context, the Dutch Science Foundation (NWO) funded the Cultural Heritage Information Personalization (CHIP) project in early 2005, as part of the Continuous Access to Cultural Heritage (CATCH) program in the Netherlands. It is a collaborative project between the Rijksmuseum Amsterdam, the Eindhoven University of Technology and the Telematica Instituut. The problem statement that guides the research of this thesis is as follows: Can we support visitors with personalized access to semantically-enriched collections? To study this question, we chose cultural heritage (museums) as an application domain, and the semantically rich background knowledge about the museum collection provides a basis to our research. On top of it, we deployed user modeling and recommendation technologies in order to provide personalized services for museum visitors. Our main contributions are: (i) we developed an interactive rating dialog of artworks and art concepts for a quick instantiation of the CHIP user model, which is built as a specialization of FOAF and mapped to an existing event model ontology SEM; (ii) we proposed a hybrid recommendation algorithm, combining both explicit and implicit relations from the semantic structure of the collection. On the presentation level, we developed three tools for end-users: Art Recommender, Tour Wizard and Mobile Tour Guide. Following a user-centered design cycle, we performed a series of evaluations with museum visitors to test the effectiveness of recommendations using the rating dialog, different ways to build an optimal user model and the prediction accuracy of the hybrid algorithm. Chapter 1 introduces the research questions, our approaches and the outline of this thesis. Chapter 2 gives an overview of our work at the first stage. It includes (i) the semantic enrichment of the Rijksmuseum collection, which is mapped to three Getty vocabularies (ULAN, AAT, TGN) and the Iconclass thesaurus; (ii) the minimal user model ontology defined as a specialization of FOAF, which only stores user ratings at that time, (iii) the first implementation of the content-based recommendation algorithm in our first tool, the CHIP Art Recommender. Chapter 3 presents two other tools: Tour Wizard and Mobile Tour Guide. Based on the user's ratings, the Web-based Tour Wizard recommends museum tours consisting of recommended artworks that are currently available for museum exhibitions. The Mobile Tour Guide converts recommended tours to mobile devices (e.g. PDA) that can be used in the physical museum space. To connect users' various interactions with these tools, we made a conversion of the online user model stored in RDF into XML format which the mobile guide can parse, and in this way we keep the online and on-site user models dynamically synchronized. Chapter 4 presents the second generation of the Mobile Tour Guide with a real time routing system on different mobile devices (e.g. iPod). Compared with the first generation, it can adapt museum tours based on the user's ratings artworks and concepts, her/his current location in the physical museum and the coordinates of the artworks and rooms in the museum. In addition, we mapped the CHIP user model to an existing event model ontology SEM. Besides ratings, it can store additional user activities, such as following a tour and viewing artworks. Chapter 5 identifies a number of semantic relations within one vocabulary (e.g. a concept has a broader/narrower concept) and across multiple vocabularies (e.g. an artist is associated to an art style). We applied all these relations as well as the basic artwork features in content-based recommendations and compared all of them in terms of usefulness. This investigation also enables us to look at the combined use of artwork features and semantic relations in sequence and derive user navigation patterns. Chapter 6 defines the task of personalized recommendations and decomposes the task into a number of inference steps for ontology-based recommender systems, from a perspective of knowledge engineering. We proposed a hybrid approach combining both explicit and implicit recommendations. The explicit relations include artworks features and semantic relations with preliminary weights which are derived from the evaluation in Chapter 5. The implicit relations are built between art concepts based on instance-based ontology matching. Chapter 7 gives an example of reusing user interaction data generated by one application into another one for providing cross-application recommendations. In this example, user tagging about cultural events, gathered by iCITY, is used to enrich the user model for generating content-based recommendations in the CHIP Art Recommender. To realize full tagging interoperability, we investigated the problems that arise in mapping user tags to domain ontologies, and proposed additional mechanisms, such as the use of SKOS matching operators to deal with the possible mis-alignment of tags and domain-specific ontologies. We summarized to what extent the problem statement and each of the research questions are answered in Chapter 8. We also discussed a number of limitations in our research and looked ahead at what may follow as future work