Learning with many experts: model selection and sparsity

Experts classifying data are often imprecise. Recently, several models have been proposed to train classifiers using the noisy labels generated by these experts. How to choose between these models? In such situations, the true labels are unavailable. Thus, one cannot perform model selection using the standard versions of methods such as empirical risk minimization and cross validation. In order to allow model selection, we present a surrogate loss and provide theoretical guarantees that assure its consistency. Next, we discuss how this loss can be used to tune a penalization which introduces sparsity in the parameters of a traditional class of models. Sparsity provides more parsimonious models and can avoid overfitting. Nevertheless, it has seldom been discussed in the context of noisy labels due to the difficulty in model selection and, therefore, in choosing tuning parameters. We apply these techniques to several sets of simulated and real data.Comment: This is the pre-peer reviewed versio

UcoSLAM: Simultaneous Localization and Mapping by Fusion of KeyPoints and Squared Planar Markers

This paper proposes a novel approach for Simultaneous Localization and Mapping by fusing natural and artificial landmarks. Most of the SLAM approaches use natural landmarks (such as keypoints). However, they are unstable over time, repetitive in many cases or insufficient for a robust tracking (e.g. in indoor buildings). On the other hand, other approaches have employed artificial landmarks (such as squared fiducial markers) placed in the environment to help tracking and relocalization. We propose a method that integrates both approaches in order to achieve long-term robust tracking in many scenarios. Our method has been compared to the start-of-the-art methods ORB-SLAM2 and LDSO in the public dataset Kitti, Euroc-MAV, TUM and SPM, obtaining better precision, robustness and speed. Our tests also show that the combination of markers and keypoints achieves better accuracy than each one of them independently.Comment: Paper submitted to Pattern Recognitio

An aggregation equation with a nonlocal flux

In this paper we study an aggregation equation with a general nonlocal flux. We study the local well-posedness and some conditions ensuring global existence. We are also interested in the differences arising when the nonlinearity in the flux changes. Thus, we perform some numerics corresponding to different convexities for the nonlinearity in the equation