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

Hybrid Scene Compression for Visual Localization

Localizing an image wrt. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots such as drones or self-driving cars, demand localization approaches to minimize storage and bandwidth requirements. Compressing the 3D models used for localization thus becomes a practical necessity. In this work, we introduce a new hybrid compression algorithm that uses a given memory limit in a more effective way. Rather than treating all 3D points equally, it represents a small set of points with full appearance information and an additional, larger set of points with compressed information. This enables our approach to obtain a more complete scene representation without increasing the memory requirements, leading to a superior performance compared to previous compression schemes. As part of our contribution, we show how to handle ambiguous matches arising from point compression during RANSAC. Besides outperforming previous compression techniques in terms of pose accuracy under the same memory constraints, our compression scheme itself is also more efficient. Furthermore, the localization rates and accuracy obtained with our approach are comparable to state-of-the-art feature-based methods, while using a small fraction of the memory.Comment: Published at CVPR 201

Deconstructing the glass transition through critical experiments on colloids

The glass transition is the most enduring grand-challenge problem in contemporary condensed matter physics. Here, we review the contribution of colloid experiments to our understanding of this problem. First, we briefly outline the success of colloidal systems in yielding microscopic insights into a wide range of condensed matter phenomena. In the context of the glass transition, we demonstrate their utility in revealing the nature of spatial and temporal dynamical heterogeneity. We then discuss the evidence from colloid experiments in favor of various theories of glass formation that has accumulated over the last two decades. In the next section, we expound on the recent paradigm shift in colloid experiments from an exploratory approach to a critical one aimed at distinguishing between predictions of competing frameworks. We demonstrate how this critical approach is aided by the discovery of novel dynamical crossovers within the range accessible to colloid experiments. We also highlight the impact of alternate routes to glass formation such as random pinning, trajectory space phase transitions and replica coupling on current and future research on the glass transition. We conclude our review by listing some key open challenges in glass physics such as the comparison of growing static lengthscales and the preparation of ultrastable glasses, that can be addressed using colloid experiments.Comment: 137 pages, 45 figure