Efficient Constellation-Based Map-Merging for Semantic SLAM

Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments. When ambiguous measurements arise, conservatism often mandates that the measurement is discarded or a new landmark is initialized rather than risking an incorrect association. To address the inevitable `duplicate' landmarks that arise, we present an efficient map-merging framework to detect duplicate constellations of landmarks, providing a high-confidence loop-closure mechanism well-suited for object-level SLAM. This approach uses an incrementally-computable approximation of landmark uncertainty that only depends on local information in the SLAM graph, avoiding expensive recovery of the full system covariance matrix. This enables a search based on geometric consistency (GC) (rather than full joint compatibility (JC)) that inexpensively reduces the search space to a handful of `best' hypotheses. Furthermore, we reformulate the commonly-used interpretation tree to allow for more efficient integration of clique-based pairwise compatibility, accelerating the branch-and-bound max-cardinality search. Our method is demonstrated to match the performance of full JC methods at significantly-reduced computational cost, facilitating robust object-based loop-closure over large SLAM problems.Comment: Accepted to IEEE International Conference on Robotics and Automation (ICRA) 201

Short-Term Change Detection in Wetlands Using Sentinel-1 Time Series

Automated monitoring systems that can capture wetlands’ high spatial and temporal variability are essential for their management. SAR-based change detection approaches offer a great opportunity to enhance our understanding of complex and dynamic ecosystems. We test a recently-developed time series change detection approach (S1-omnibus) using Sentinel-1 imagery of two wetlands with different ecological characteristics; a seasonal isolated wetland in southern Spain and a coastal wetland in the south of France. We test the S1-omnibus method against a commonly-used pairwise comparison of consecutive images to demonstrate its advantages. Additionally, we compare it with a pairwise change detection method using a subset of consecutive Landsat images for the same period of time. The results show how S1-omnibus is capable of capturing in space and time changes produced by water surface dynamics, as well as by agricultural practices, whether they are sudden changes, as well as gradual. S1-omnibus is capable of detecting a wider array of short-term changes than when using consecutive pairs of Sentinel-1 images. When compared to the Landsat-based change detection method, both show an overall good agreement, although certain landscape changes are detected only by either the Landsat-based or the S1-omnibus method. The S1-omnibus method shows a great potential for an automated monitoring of short time changes and accurate delineation of areas of high variability and of slow and gradual changes

The Effect of Supplemental Medical and Prescription Drug Coverage on Health Care Spending for Medicare Beneficiaries with Cancer

AbstractObjectivesTo examine whether patients with newly diagnosed cancer respond differently to supplemental coverage than the general Medicare population.MethodsA cohort of newly diagnosed cancer patients (n = 1,799) from the 1997-2007 Medicare Current Beneficiary Survey and a noncancer cohort (n = 9,726) were identified and matched by panel year. Two-year total medical care spending was estimated by using generalized linear models with gamma distribution and log link—including endogeneity-corrected models. Interactions between cancer and type of insurance allowed testing for differential effects of a cancer diagnosis.ResultsThe cancer cohort spent an adjusted $15,605 more over 2 years than did the noncancer comparison group. Relative to those without supplemental coverage, beneficiaries with employer-sponsored insurance, other private with prescription drug coverage, and public coverage had significantly higher total spending ($3,510, $2,823, and$4,065, respectively, for main models). For beneficiaries with cancer, supplemental insurance effects were similar in magnitude yet negative, suggesting little net effect of supplemental insurance for cancer patients. The endogeneity-corrected models produced implausibly large main effects of supplemental insurance, but the Cancer × Insurance interactions were similar in both models.ConclusionsMedicare beneficiaries with cancer are less responsive to the presence and type of supplemental insurance than are beneficiaries without cancer. Proposed restrictions on the availability of supplemental insurance intended to reduce Medicare spending would be unlikely to limit expenditures by beneficiaries with cancer, but would shift the financial burden to those beneficiaries. Policymakers should consider welfare effects associated with coverage restrictions

ℓ1\ell^1-Analysis Minimization and Generalized (Co-)Sparsity: When Does Recovery Succeed?

This paper investigates the problem of signal estimation from undersampled noisy sub-Gaussian measurements under the assumption of a cosparse model. Based on generalized notions of sparsity, we derive novel recovery guarantees for the $\ell^{1}$-analysis basis pursuit, enabling highly accurate predictions of its sample complexity. The corresponding bounds on the number of required measurements do explicitly depend on the Gram matrix of the analysis operator and therefore particularly account for its mutual coherence structure. Our findings defy conventional wisdom which promotes the sparsity of analysis coefficients as the crucial quantity to study. In fact, this common paradigm breaks down completely in many situations of practical interest, for instance, when applying a redundant (multilevel) frame as analysis prior. By extensive numerical experiments, we demonstrate that, in contrast, our theoretical sampling-rate bounds reliably capture the recovery capability of various examples, such as redundant Haar wavelets systems, total variation, or random frames. The proofs of our main results build upon recent achievements in the convex geometry of data mining problems. More precisely, we establish a sophisticated upper bound on the conic Gaussian mean width that is associated with the underlying $\ell^{1}$-analysis polytope. Due to a novel localization argument, it turns out that the presented framework naturally extends to stable recovery, allowing us to incorporate compressible coefficient sequences as well

Beyond Transmitting Bits: Context, Semantics, and Task-Oriented Communications

Communication systems to date primarily aim at reliably communicating bit sequences. Such an approach provides efficient engineering designs that are agnostic to the meanings of the messages or to the goal that the message exchange aims to achieve. Next generation systems, however, can be potentially enriched by folding message semantics and goals of communication into their design. Further, these systems can be made cognizant of the context in which communication exchange takes place, providing avenues for novel design insights. This tutorial summarizes the efforts to date, starting from its early adaptations, semantic-aware and task-oriented communications, covering the foundations, algorithms and potential implementations. The focus is on approaches that utilize information theory to provide the foundations, as well as the significant role of learning in semantics and task-aware communications.Comment: 28 pages, 14 figure

Constant weight strings in constant time: a building block for code-based post-quantum cryptosystems

Code based cryptosystems often need to encode either a message or a random bitstring into one of fixed length and fixed (Hamming) weight. The lack of an efficient and reliable bijective map presents a problem in building constructions around the said cryptosystems to attain security against active attackers. We present an efficiently computable, bijective function which yields the desired mapping. Furthermore, we delineate how the said function can be computed in constant time. We experimentally validate the effectiveness and efficiency of our approach, comparing it against the current state of the art solutions, achieving three to four orders of magnitude improvements in computation time, and validate its constant runtim

The History of Lawrence University, 1847-1925

viii, 493 pages. William Francis Raney, David G. Ormsby Professor of European History, was on the faculty at Lawrence University from 1920 to 1955. He researched and wrote this extensive history of Lawrence University between the time of his retirement in 1955 and his death in 1962. Marshall Hulbert \u2726 prepared the work for printing and a limited run was published by Lawrence University in 1984.https://lux.lawrence.edu/archives_selections/1005/thumbnail.jp