Rhythmic Representations: Learning Periodic Patterns for Scalable Place Recognition at a Sub-Linear Storage Cost

Robotic and animal mapping systems share many challenges and characteristics: they must function in a wide variety of environmental conditions, enable the robot or animal to navigate effectively to find food or shelter, and be computationally tractable from both a speed and storage perspective. With regards to map storage, the mammalian brain appears to take a diametrically opposed approach to all current robotic mapping systems. Where robotic mapping systems attempt to solve the data association problem to minimise representational aliasing, neurons in the brain intentionally break data association by encoding large (potentially unlimited) numbers of places with a single neuron. In this paper, we propose a novel method based on supervised learning techniques that seeks out regularly repeating visual patterns in the environment with mutually complementary co-prime frequencies, and an encoding scheme that enables storage requirements to grow sub-linearly with the size of the environment being mapped. To improve robustness in challenging real-world environments while maintaining storage growth sub-linearity, we incorporate both multi-exemplar learning and data augmentation techniques. Using large benchmark robotic mapping datasets, we demonstrate the combined system achieving high-performance place recognition with sub-linear storage requirements, and characterize the performance-storage growth trade-off curve. The work serves as the first robotic mapping system with sub-linear storage scaling properties, as well as the first large-scale demonstration in real-world environments of one of the proposed memory benefits of these neurons.Comment: Pre-print of article that will appear in the IEEE Robotics and Automation Letter

Featureless visual processing for SLAM in changing outdoor environments

Vision-based SLAM is mostly a solved problem providing clear, sharp images can be obtained. However, in outdoor environments a number of factors such as rough terrain, high speeds and hardware limitations can result in these conditions not being met. High speed transit on rough terrain can lead to image blur and under/over exposure, problems that cannot easily be dealt with using low cost hardware. Furthermore, recently there has been a growth in interest in lifelong autonomy for robots, which brings with it the challenge in outdoor environments of dealing with a moving sun and lack of constant artificial lighting. In this paper, we present a lightweight approach to visual localization and visual odometry that addresses the challenges posed by perceptual change and low cost cameras. The approach combines low resolution imagery with the SLAM algorithm, RatSLAM. We test the system using a cheap consumer camera mounted on a small vehicle in a mixed urban and vegetated environment, at times ranging from dawn to dusk and in conditions ranging from sunny weather to rain. We first show that the system is able to provide reliable mapping and recall over the course of the day and incrementally incorporate new visual scenes from different times into an existing map. We then restrict the system to only learning visual scenes at one time of day, and show that the system is still able to localize and map at other times of day. The results demonstrate the viability of the approach in situations where image quality is poor and environmental or hardware factors preclude the use of visual features

A hierarchical search for gravitational waves from supermassive black hole binary mergers

We present a method to search for gravitational waves from coalescing supermassive binary black holes in LISA data. The search utilizes the $\mathcal{F}$-statistic to maximize over, and determine the values of, the extrinsic parameters of the binary system. The intrinsic parameters are searched over hierarchically using stochastically generated multi-dimensional template banks to recover the masses and sky locations of the binary. We present the results of this method applied to the mock LISA data Challenge 1B data set.Comment: 11 pages, 2 figures, for GWDAW-12 proceedings edition of CQ

Compressive Pattern Matching on Multispectral Data

We introduce a new constrained minimization problem that performs template and pattern detection on a multispectral image in a compressive sensing context. We use an original minimization problem from Guo and Osher that uses $L_1$ minimization techniques to perform template detection in a multispectral image. We first adapt this minimization problem to work with compressive sensing data. Then we extend it to perform pattern detection using a formal transform called the spectralization along a pattern. That extension brings out the problem of measurement reconstruction. We introduce shifted measurements that allow us to reconstruct all the measurement with a small overhead and we give an optimality constraint for simple patterns. We present numerical results showing the performances of the original minimization problem and the compressed ones with different measurement rates and applied on remotely sensed data.Comment: Published in IEEE Transactions on Geoscience and Remote Sensin

A coherent triggered search for single spin compact binary coalescences in gravitational wave data

In this paper we present a method for conducting a coherent search for single spin compact binary coalescences in gravitational wave data and compare this search to the existing coincidence method for single spin searches. We propose a method to characterize the regions of the parameter space where the single spin search, both coincident and coherent, will increase detection efficiency over the existing non-precessing search. We also show example results of the coherent search on a stretch of data from LIGO's fourth science run but note that a set of signal based vetoes will be needed before this search can be run to try to make detections.Comment: 14 pages, 4 figure