Supervised semantic labeling of places using information extracted from sensor data

Indoor environments can typically be divided into places with different functionalities like corridors, rooms or doorways. The ability to learn such semantic categories from sensor data enables a mobile robot to extend the representation of the environment facilitating interaction with humans. As an example, natural language terms like “corridor” or “room” can be used to communicate the position of the robot in a map in a more intuitive way. In this work, we first propose an approach based on supervised learning to classify the pose of a mobile robot into semantic classes. Our method uses AdaBoost to boost simple features extracted from sensor range data into a strong classifier. We present two main applications of this approach. Firstly, we show how our approach can be utilized by a moving robot for an online classification of the poses traversed along its path using a hidden Markov model. In this case we additionally use as features objects extracted from images. Secondly, we introduce an approach to learn topological maps from geometric maps by applying our semantic classification procedure in combination with a probabilistic relaxation method. Alternatively, we apply associative Markov networks to classify geometric maps and compare the results with a relaxation approach. Experimental results obtained in simulation and with real robots demonstrate the effectiveness of our approach in various indoor environments

Global and local Complexity in weakly chaotic dynamical systems

In a topological dynamical system the complexity of an orbit is a measure of the amount of information (algorithmic information content) that is necessary to describe the orbit. This indicator is invariant up to topological conjugation. We consider this indicator of local complexity of the dynamics and provide different examples of its behavior, showing how it can be useful to characterize various kind of weakly chaotic dynamics. We also provide criteria to find systems with non trivial orbit complexity (systems where the description of the whole orbit requires an infinite amount of information). We consider also a global indicator of the complexity of the system. This global indicator generalizes the topological entropy, taking into account systems were the number of essentially different orbits increases less than exponentially. Then we prove that if the system is constructive (roughly speaking: if the map can be defined up to any given accuracy using a finite amount of information) the orbit complexity is everywhere less or equal than the generalized topological entropy. Conversely there are compact non constructive examples where the inequality is reversed, suggesting that this notion comes out naturally in this kind of complexity questions.Comment: 23 page

Finite Boolean Algebras for Solid Geometry using Julia's Sparse Arrays

The goal of this paper is to introduce a new method in computer-aided geometry of solid modeling. We put forth a novel algebraic technique to evaluate any variadic expression between polyhedral d-solids (d = 2, 3) with regularized operators of union, intersection, and difference, i.e., any CSG tree. The result is obtained in three steps: first, by computing an independent set of generators for the d-space partition induced by the input; then, by reducing the solid expression to an equivalent logical formula between Boolean terms made by zeros and ones; and, finally, by evaluating this expression using bitwise operators. This method is implemented in Julia using sparse arrays. The computational evaluation of every possible solid expression, usually denoted as CSG (Constructive Solid Geometry), is reduced to an equivalent logical expression of a finite set algebra over the cells of a space partition, and solved by native bitwise operators.Comment: revised version submitted to Computer-Aided Geometric Desig