9,405 research outputs found
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
Resolving Structure in Human Brain Organization: Identifying Mesoscale Organization in Weighted Network Representations
Human brain anatomy and function display a combination of modular and
hierarchical organization, suggesting the importance of both cohesive
structures and variable resolutions in the facilitation of healthy cognitive
processes. However, tools to simultaneously probe these features of brain
architecture require further development. We propose and apply a set of methods
to extract cohesive structures in network representations of brain connectivity
using multi-resolution techniques. We employ a combination of soft
thresholding, windowed thresholding, and resolution in community detection,
that enable us to identify and isolate structures associated with different
weights. One such mesoscale structure is bipartivity, which quantifies the
extent to which the brain is divided into two partitions with high connectivity
between partitions and low connectivity within partitions. A second,
complementary mesoscale structure is modularity, which quantifies the extent to
which the brain is divided into multiple communities with strong connectivity
within each community and weak connectivity between communities. Our methods
lead to multi-resolution curves of these network diagnostics over a range of
spatial, geometric, and structural scales. For statistical comparison, we
contrast our results with those obtained for several benchmark null models. Our
work demonstrates that multi-resolution diagnostic curves capture complex
organizational profiles in weighted graphs. We apply these methods to the
identification of resolution-specific characteristics of healthy weighted graph
architecture and altered connectivity profiles in psychiatric disease.Comment: Comments welcom
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