Don't Look Back: Robustifying Place Categorization for Viewpoint- and Condition-Invariant Place Recognition

When a human drives a car along a road for the first time, they later recognize where they are on the return journey typically without needing to look in their rear-view mirror or turn around to look back, despite significant viewpoint and appearance change. Such navigation capabilities are typically attributed to our semantic visual understanding of the environment [1] beyond geometry to recognizing the types of places we are passing through such as "passing a shop on the left" or "moving through a forested area". Humans are in effect using place categorization [2] to perform specific place recognition even when the viewpoint is 180 degrees reversed. Recent advances in deep neural networks have enabled high-performance semantic understanding of visual places and scenes, opening up the possibility of emulating what humans do. In this work, we develop a novel methodology for using the semantics-aware higher-order layers of deep neural networks for recognizing specific places from within a reference database. To further improve the robustness to appearance change, we develop a descriptor normalization scheme that builds on the success of normalization schemes for pure appearance-based techniques such as SeqSLAM [3]. Using two different datasets - one road-based, one pedestrian-based, we evaluate the performance of the system in performing place recognition on reverse traversals of a route with a limited field of view camera and no turn-back-and-look behaviours, and compare to existing state-of-the-art techniques and vanilla off-the-shelf features. The results demonstrate significant improvements over the existing state of the art, especially for extreme perceptual challenges that involve both great viewpoint change and environmental appearance change. We also provide experimental analyses of the contributions of the various system components.Comment: 9 pages, 11 figures, ICRA 201

A structured model metametadata technique to enhance semantic searching in metadata repository

This paper discusses on a novel technique for semantic searching and retrieval of information about learning materials. A novel structured metametadata model has been created to provide the foundation for a semantic search engine to extract, match and map queries to retrieve relevant results. Metametadata encapsulate metadata instances by using the properties and attributes provided by ontologies rather than describing learning objects. The use of ontological views assists the pedagogical content of metadata extracted from learning objects by using the control vocabularies as identified from the metametadata taxonomy. The use of metametadata (based on the metametadata taxonomy) supported by the ontologies have contributed towards a novel semantic searching mechanism. This research has presented a metametadata model for identifying semantics and describing learning objects in finer-grain detail that allows for intelligent and smart retrieval by automated search and retrieval software

A computational model of the referential semantics of projective prepositions

In this paper we present a framework for interpreting locative expressions containing the prepositions in front of and behind. These prepositions have different semantics in the viewer-centred and intrinsic frames of reference (Vandeloise, 1991). We define a model of their semantics in each frame of reference. The basis of these models is a novel parameterized continuum function that creates a 3-D spatial template. In the intrinsic frame of reference the origin used by the continuum function is assumed to be known a priori and object occlusion does not impact on the applicability rating of a point in the spatial template. In the viewer-centred frame the location of the spatial template’s origin is dependent on the user’s perception of the landmark at the time of the utterance and object occlusion is integrated into the model. Where there is an ambiguity with respect to the intended frame of reference, we define an algorithm for merging the spatial templates from the competing frames of reference, based on psycholinguistic observations in (Carlson-Radvansky, 1997)

Cognitive Computation sans Representation

The Computational Theory of Mind (CTM) holds that cognitive processes are essentially computational, and hence computation provides the scientific key to explaining mentality. The Representational Theory of Mind (RTM) holds that representational content is the key feature in distinguishing mental from non-mental systems. I argue that there is a deep incompatibility between these two theoretical frameworks, and that the acceptance of CTM provides strong grounds for rejecting RTM. The focal point of the incompatibility is the fact that representational content is extrinsic to formal procedures as such, and the intended interpretation of syntax makes no difference to the execution of an algorithm. So the unique 'content' postulated by RTM is superfluous to the formal procedures of CTM. And once these procedures are implemented in a physical mechanism, it is exclusively the causal properties of the physical mechanism that are responsible for all aspects of the system's behaviour. So once again, postulated content is rendered superfluous. To the extent that semantic content may appear to play a role in behaviour, it must be syntactically encoded within the system, and just as in a standard computational artefact, so too with the human mind/brain - it's pure syntax all the way down to the level of physical implementation. Hence 'content' is at most a convenient meta-level gloss, projected from the outside by human theorists, which itself can play no role in cognitive processing

Developing an open data portal for the ESA climate change initiative

We introduce the rationale for, and architecture of, the European Space Agency Climate Change Initiative (CCI) Open Data Portal (http://cci.esa.int/data/). The Open Data Portal hosts a set of richly diverse datasets – 13 “Essential Climate Variables” – from the CCI programme in a consistent and harmonised form and to provides a single point of access for the (>100 TB) data for broad dissemination to an international user community. These data have been produced by a range of different institutions and vary across both scientific and spatio-temporal characteristics. This heterogeneity of the data together with the range of services to be supported presented significant technical challenges. An iterative development methodology was key to tackling these challenges: the system developed exploits a workflow which takes data that conforms to the CCI data specification, ingests it into a managed archive and uses both manual and automatically generated metadata to support data discovery, browse, and delivery services. It utilises both Earth System Grid Federation (ESGF) data nodes and the Open Geospatial Consortium Catalogue Service for the Web (OGC-CSW) interface, serving data into both the ESGF and the Global Earth Observation System of Systems (GEOSS). A key part of the system is a new vocabulary server, populated with CCI specific terms and relationships which integrates OGC-CSW and ESGF search services together, developed as part of a dialogue between domain scientists and linked data specialists. These services have enabled the development of a unified user interface for graphical search and visualisation – the CCI Open Data Portal Web Presence

Towards Semantic Integration of Heterogeneous Sensor Data with Indigenous Knowledge for Drought Forecasting

In the Internet of Things (IoT) domain, various heterogeneous ubiquitous devices would be able to connect and communicate with each other seamlessly, irrespective of the domain. Semantic representation of data through detailed standardized annotation has shown to improve the integration of the interconnected heterogeneous devices. However, the semantic representation of these heterogeneous data sources for environmental monitoring systems is not yet well supported. To achieve the maximum benefits of IoT for drought forecasting, a dedicated semantic middleware solution is required. This research proposes a middleware that semantically represents and integrates heterogeneous data sources with indigenous knowledge based on a unified ontology for an accurate IoT-based drought early warning system (DEWS).Comment: 5 pages, 3 figures, In Proceedings of the Doctoral Symposium of the 16th International Middleware Conference (Middleware Doct Symposium 2015), Ivan Beschastnikh and Wouter Joosen (Eds.). ACM, New York, NY, US

Learning to Understand by Evolving Theories

In this paper, we describe an approach that enables an autonomous system to infer the semantics of a command (i.e. a symbol sequence representing an action) in terms of the relations between changes in the observations and the action instances. We present a method of how to induce a theory (i.e. a semantic description) of the meaning of a command in terms of a minimal set of background knowledge. The only thing we have is a sequence of observations from which we extract what kinds of effects were caused by performing the command. This way, we yield a description of the semantics of the action and, hence, a definition.Comment: KRR Workshop at ICLP 201

Semantic data mining and linked data for a recommender system in the AEC industry

Even though it can provide design teams with valuable performance insights and enhance decision-making, monitored building data is rarely reused in an effective feedback loop from operation to design. Data mining allows users to obtain such insights from the large datasets generated throughout the building life cycle. Furthermore, semantic web technologies allow to formally represent the built environment and retrieve knowledge in response to domain-specific requirements. Both approaches have independently established themselves as powerful aids in decision-making. Combining them can enrich data mining processes with domain knowledge and facilitate knowledge discovery, representation and reuse. In this article, we look into the available data mining techniques and investigate to what extent they can be fused with semantic web technologies to provide recommendations to the end user in performance-oriented design. We demonstrate an initial implementation of a linked data-based system for generation of recommendations

Knowledge will Propel Machine Understanding of Content: Extrapolating from Current Examples

Machine Learning has been a big success story during the AI resurgence. One particular stand out success relates to learning from a massive amount of data. In spite of early assertions of the unreasonable effectiveness of data, there is increasing recognition for utilizing knowledge whenever it is available or can be created purposefully. In this paper, we discuss the indispensable role of knowledge for deeper understanding of content where (i) large amounts of training data are unavailable, (ii) the objects to be recognized are complex, (e.g., implicit entities and highly subjective content), and (iii) applications need to use complementary or related data in multiple modalities/media. What brings us to the cusp of rapid progress is our ability to (a) create relevant and reliable knowledge and (b) carefully exploit knowledge to enhance ML/NLP techniques. Using diverse examples, we seek to foretell unprecedented progress in our ability for deeper understanding and exploitation of multimodal data and continued incorporation of knowledge in learning techniques.Comment: Pre-print of the paper accepted at 2017 IEEE/WIC/ACM International Conference on Web Intelligence (WI). arXiv admin note: substantial text overlap with arXiv:1610.0770