188,584 research outputs found

    From Monocular SLAM to Autonomous Drone Exploration

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    Micro aerial vehicles (MAVs) are strongly limited in their payload and power capacity. In order to implement autonomous navigation, algorithms are therefore desirable that use sensory equipment that is as small, low-weight, and low-power consuming as possible. In this paper, we propose a method for autonomous MAV navigation and exploration using a low-cost consumer-grade quadrocopter equipped with a monocular camera. Our vision-based navigation system builds on LSD-SLAM which estimates the MAV trajectory and a semi-dense reconstruction of the environment in real-time. Since LSD-SLAM only determines depth at high gradient pixels, texture-less areas are not directly observed so that previous exploration methods that assume dense map information cannot directly be applied. We propose an obstacle mapping and exploration approach that takes the properties of our semi-dense monocular SLAM system into account. In experiments, we demonstrate our vision-based autonomous navigation and exploration system with a Parrot Bebop MAV

    Structuring visual exploratory analysis of skill demand

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    The analysis of increasingly large and diverse data for meaningful interpretation and question answering is handicapped by human cognitive limitations. Consequently, semi-automatic abstraction of complex data within structured information spaces becomes increasingly important, if its knowledge content is to support intuitive, exploratory discovery. Exploration of skill demand is an area where regularly updated, multi-dimensional data may be exploited to assess capability within the workforce to manage the demands of the modern, technology- and data-driven economy. The knowledge derived may be employed by skilled practitioners in defining career pathways, to identify where, when and how to update their skillsets in line with advancing technology and changing work demands. This same knowledge may also be used to identify the combination of skills essential in recruiting for new roles. To address the challenges inherent in exploring the complex, heterogeneous, dynamic data that feeds into such applications, we investigate the use of an ontology to guide structuring of the information space, to allow individuals and institutions to interactively explore and interpret the dynamic skill demand landscape for their specific needs. As a test case we consider the relatively new and highly dynamic field of Data Science, where insightful, exploratory data analysis and knowledge discovery are critical. We employ context-driven and task-centred scenarios to explore our research questions and guide iterative design, development and formative evaluation of our ontology-driven, visual exploratory discovery and analysis approach, to measure where it adds value to users’ analytical activity. Our findings reinforce the potential in our approach, and point us to future paths to build on

    Visual Integration of Data and Model Space in Ensemble Learning

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    Ensembles of classifier models typically deliver superior performance and can outperform single classifier models given a dataset and classification task at hand. However, the gain in performance comes together with the lack in comprehensibility, posing a challenge to understand how each model affects the classification outputs and where the errors come from. We propose a tight visual integration of the data and the model space for exploring and combining classifier models. We introduce a workflow that builds upon the visual integration and enables the effective exploration of classification outputs and models. We then present a use case in which we start with an ensemble automatically selected by a standard ensemble selection algorithm, and show how we can manipulate models and alternative combinations.Comment: 8 pages, 7 picture
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