Towards a Visipedia: Combining Computer Vision and Communities of Experts

Motivated by the idea of a Visipedia, where users can search and explore by image, this thesis presents tools and techniques for empowering expert communities through computer vision. The collective aim of this work is to provide a scalable foundation upon which an application like Visipedia can be built. We conduct experiments using two highly motivated communities, the birding community and the naturalist community, and report results and lessons on how to build the necessary components of a Visipedia. First, we conduct experiments analyzing the behavior of state-of-the-art computer vision classifiers on long tailed datasets. We find poor feature sharing between classes, potentially limiting the applicability of these models and emphasizing the ability to intelligently direct data collection resources. Second, we devise online crowdsourcing algorithms to make dataset collection for binary labels, multiclass labels, keypoints, and mulit-instance bounding boxes faster, cheaper, and more accurate. These methods jointly estimate labels, worker skills, and train computer vision models for these tasks. Experiments show that we can achieve significant cost savings compared to traditional data collection techniques, and that we can produce a more accurate dataset compared to traditional data collection techniques. Third, we present two fine-grained datasets, detail how they were constructed, and analyze the test accuracy of state-of-the-art methods. These datasets are then used to create applications that help users identify species in their photographs: Merlin, an app assisting users in identifying birds species, and iNaturalist, an app that assists users in identifying a broad variety of species. Finally, we present work aimed at reducing the computational burden of large scale classification with the goal of creating an application that allows users to classify tens of thousands of species in real time on their mobile device. As a whole, the lessons learned and the techniques presented in this thesis bring us closer to the realization of a Visipedia.</p

Advances in Robot Navigation

Robot navigation includes different interrelated activities such as perception - obtaining and interpreting sensory information; exploration - the strategy that guides the robot to select the next direction to go; mapping - the construction of a spatial representation by using the sensory information perceived; localization - the strategy to estimate the robot position within the spatial map; path planning - the strategy to find a path towards a goal location being optimal or not; and path execution, where motor actions are determined and adapted to environmental changes. This book integrates results from the research work of authors all over the world, addressing the abovementioned activities and analyzing the critical implications of dealing with dynamic environments. Different solutions providing adaptive navigation are taken from nature inspiration, and diverse applications are described in the context of an important field of study: social robotics

Hybrid Cloud Model Checking Using the Interaction Layer of HARMS for Ambient Intelligent Systems

Soon, humans will be co-living and taking advantage of the help of multi-agent systems in a broader way than the present. Such systems will involve machines or devices of any variety, including robots. These kind of solutions will adapt to the special needs of each individual. However, to the concern of this research effort, systems like the ones mentioned above might encounter situations that will not be seen before execution time. It is understood that there are two possible outcomes that could materialize; either keep working without corrective measures, which could lead to an entirely different end or completely stop working. Both results should be avoided, specially in cases where the end user will depend on a high level guidance provided by the system, such as in ambient intelligence applications. This dissertation worked towards two specific goals. First, to assure that the system will always work, independently of which of the agents performs the different tasks needed to accomplish a bigger objective. Second, to provide initial steps towards autonomous survivable systems which can change their future actions in order to achieve the original final goals. Therefore, the use of the third layer of the HARMS model was proposed to insure the indistinguishability of the actors accomplishing each task and sub-task without regard of the intrinsic complexity of the activity. Additionally, a framework was proposed using model checking methodology during run-time for providing possible solutions to issues encountered in execution time, as a part of the survivability feature of the systems final goals

Recent Advances in Multi Robot Systems

To design a team of robots which is able to perform given tasks is a great concern of many members of robotics community. There are many problems left to be solved in order to have the fully functional robot team. Robotics community is trying hard to solve such problems (navigation, task allocation, communication, adaptation, control, ...). This book represents the contributions of the top researchers in this field and will serve as a valuable tool for professionals in this interdisciplinary field. It is focused on the challenging issues of team architectures, vehicle learning and adaptation, heterogeneous group control and cooperation, task selection, dynamic autonomy, mixed initiative, and human and robot team interaction. The book consists of 16 chapters introducing both basic research and advanced developments. Topics covered include kinematics, dynamic analysis, accuracy, optimization design, modelling, simulation and control of multi robot systems

Dagstuhl News January - December 2008

"Dagstuhl News" is a publication edited especially for the members of the Foundation "Informatikzentrum Schloss Dagstuhl" to thank them for their support. The News give a summary of the scientific work being done in Dagstuhl. Each Dagstuhl Seminar is presented by a small abstract describing the contents and scientific highlights of the seminar as well as the perspectives or challenges of the research topic