18,789 research outputs found
Feature discovery and visualization of robot mission data using convolutional autoencoders and Bayesian nonparametric topic models
The gap between our ability to collect interesting data and our ability to
analyze these data is growing at an unprecedented rate. Recent algorithmic
attempts to fill this gap have employed unsupervised tools to discover
structure in data. Some of the most successful approaches have used
probabilistic models to uncover latent thematic structure in discrete data.
Despite the success of these models on textual data, they have not generalized
as well to image data, in part because of the spatial and temporal structure
that may exist in an image stream.
We introduce a novel unsupervised machine learning framework that
incorporates the ability of convolutional autoencoders to discover features
from images that directly encode spatial information, within a Bayesian
nonparametric topic model that discovers meaningful latent patterns within
discrete data. By using this hybrid framework, we overcome the fundamental
dependency of traditional topic models on rigidly hand-coded data
representations, while simultaneously encoding spatial dependency in our topics
without adding model complexity. We apply this model to the motivating
application of high-level scene understanding and mission summarization for
exploratory marine robots. Our experiments on a seafloor dataset collected by a
marine robot show that the proposed hybrid framework outperforms current
state-of-the-art approaches on the task of unsupervised seafloor terrain
characterization.Comment: 8 page
Estimating snow cover from publicly available images
In this paper we study the problem of estimating snow cover in mountainous
regions, that is, the spatial extent of the earth surface covered by snow. We
argue that publicly available visual content, in the form of user generated
photographs and image feeds from outdoor webcams, can both be leveraged as
additional measurement sources, complementing existing ground, satellite and
airborne sensor data. To this end, we describe two content acquisition and
processing pipelines that are tailored to such sources, addressing the specific
challenges posed by each of them, e.g., identifying the mountain peaks,
filtering out images taken in bad weather conditions, handling varying
illumination conditions. The final outcome is summarized in a snow cover index,
which indicates for a specific mountain and day of the year, the fraction of
visible area covered by snow, possibly at different elevations. We created a
manually labelled dataset to assess the accuracy of the image snow covered area
estimation, achieving 90.0% precision at 91.1% recall. In addition, we show
that seasonal trends related to air temperature are captured by the snow cover
index.Comment: submitted to IEEE Transactions on Multimedi
Evaluating the Differences of Gridding Techniques for Digital Elevation Models Generation and Their Influence on the Modeling of Stony Debris Flows Routing: A Case Study From Rovina di Cancia Basin (North-Eastern Italian Alps)
Debris \ufb02ows are among the most hazardous phenomena in mountain areas. To cope
with debris \ufb02ow hazard, it is common to delineate the risk-prone areas through
routing models. The most important input to debris \ufb02ow routing models are the
topographic data, usually in the form of Digital Elevation Models (DEMs). The quality
of DEMs depends on the accuracy, density, and spatial distribution of the sampled
points; on the characteristics of the surface; and on the applied gridding methodology.
Therefore, the choice of the interpolation method affects the realistic representation
of the channel and fan morphology, and thus potentially the debris \ufb02ow routing
modeling outcomes. In this paper, we initially investigate the performance of common
interpolation methods (i.e., linear triangulation, natural neighbor, nearest neighbor,
Inverse Distance to a Power, ANUDEM, Radial Basis Functions, and ordinary kriging)
in building DEMs with the complex topography of a debris \ufb02ow channel located
in the Venetian Dolomites (North-eastern Italian Alps), by using small footprint full-
waveform Light Detection And Ranging (LiDAR) data. The investigation is carried
out through a combination of statistical analysis of vertical accuracy, algorithm
robustness, and spatial clustering of vertical errors, and multi-criteria shape reliability
assessment. After that, we examine the in\ufb02uence of the tested interpolation algorithms
on the performance of a Geographic Information System (GIS)-based cell model for
simulating stony debris \ufb02ows routing. In detail, we investigate both the correlation
between the DEMs heights uncertainty resulting from the gridding procedure and
that on the corresponding simulated erosion/deposition depths, both the effect of
interpolation algorithms on simulated areas, erosion and deposition volumes, solid-liquid
discharges, and channel morphology after the event. The comparison among the tested
interpolation methods highlights that the ANUDEM and ordinary kriging algorithms
are not suitable for building DEMs with complex topography. Conversely, the linear
triangulation, the natural neighbor algorithm, and the thin-plate spline plus tension and completely regularized spline functions ensure the best trade-off among accuracy
and shape reliability. Anyway, the evaluation of the effects of gridding techniques on
debris \ufb02ow routing modeling reveals that the choice of the interpolation algorithm does
not signi\ufb01cantly affect the model outcomes
Virtual-to-Real-World Transfer Learning for Robots on Wilderness Trails
Robots hold promise in many scenarios involving outdoor use, such as
search-and-rescue, wildlife management, and collecting data to improve
environment, climate, and weather forecasting. However, autonomous navigation
of outdoor trails remains a challenging problem. Recent work has sought to
address this issue using deep learning. Although this approach has achieved
state-of-the-art results, the deep learning paradigm may be limited due to a
reliance on large amounts of annotated training data. Collecting and curating
training datasets may not be feasible or practical in many situations,
especially as trail conditions may change due to seasonal weather variations,
storms, and natural erosion. In this paper, we explore an approach to address
this issue through virtual-to-real-world transfer learning using a variety of
deep learning models trained to classify the direction of a trail in an image.
Our approach utilizes synthetic data gathered from virtual environments for
model training, bypassing the need to collect a large amount of real images of
the outdoors. We validate our approach in three main ways. First, we
demonstrate that our models achieve classification accuracies upwards of 95% on
our synthetic data set. Next, we utilize our classification models in the
control system of a simulated robot to demonstrate feasibility. Finally, we
evaluate our models on real-world trail data and demonstrate the potential of
virtual-to-real-world transfer learning.Comment: iROS 201
Learning Ground Traversability from Simulations
Mobile ground robots operating on unstructured terrain must predict which
areas of the environment they are able to pass in order to plan feasible paths.
We address traversability estimation as a heightmap classification problem: we
build a convolutional neural network that, given an image representing the
heightmap of a terrain patch, predicts whether the robot will be able to
traverse such patch from left to right. The classifier is trained for a
specific robot model (wheeled, tracked, legged, snake-like) using simulation
data on procedurally generated training terrains; the trained classifier can be
applied to unseen large heightmaps to yield oriented traversability maps, and
then plan traversable paths. We extensively evaluate the approach in simulation
on six real-world elevation datasets, and run a real-robot validation in one
indoor and one outdoor environment.Comment: Webpage: http://romarcg.xyz/traversability_estimation
The potential of small unmanned aircraft systems and structure-from-motion for topographic surveys: a test of emerging integrated approaches at Cwm Idwal, North Wales
This paper was accepted for publication in the journal Geomorphology and the definitive published version is available at http://dx.doi.org/10.1016/j.geomorph.2014.07.021Novel topographic survey methods that integrate both structure-from-motion (SfM) photogrammetry and small unmanned aircraft systems (sUAS) are a rapidly evolving investigative technique. Due to the diverse range of survey configurations available and the infancy of these new methods, further research is required. Here, the accuracy, precision and potential applications of this approach are investigated. A total of 543 images of the Cwm Idwal moraineâmound complex were captured from a light (b5 kg) semi-autonomous multi-rotor unmanned aircraft system using a consumer-grade 18 MP compact digital camera. The imageswere used to produce a DSM(digital surfacemodel) of themoraines. The DSMis in good agreement with 7761 total station survey points providing a total verticalRMSE value of 0.517mand verticalRMSE values as lowas 0.200mfor less densely vegetated areas of the DSM. High-precision topographic data can be acquired rapidly using this technique with
the resulting DSMs and orthorectified aerial imagery at sub-decimetre resolutions. Positional errors on the total station dataset, vegetation and steep terrain are identified as the causes of vertical disagreement. Whilst this aerial survey approach is advocated for use in a range of geomorphological settings, care must be taken to ensure that adequate ground control is applied to give a high degree of accuracy
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