Local descriptors for visual SLAM

We present a comparison of several local image descriptors in the context of visual Simultaneous Localization and Mapping (SLAM). In visual SLAM a set of points in the environment are extracted from images and used as landmarks. The points are represented by local descriptors used to resolve the association between landmarks. In this paper, we study the class separability of several descriptors under changes in viewpoint and scale. Several experiments were carried out using sequences of images in 2D and 3D scenes

Interest point detectors for visual SLAM

In this paper we present several interest points detectors and we analyze their suitability when used as landmark extractors for vision-based simultaneous localization and mapping (vSLAM). For this purpose, we evaluate the detectors according to their repeatability under changes in viewpoint and scale. These are the desired requirements for visual landmarks. Several experiments were carried out using sequence of images captured with high precision. The sequences represent planar objects as well as 3D scenes

Collective classification for labeling of places and objects in 2D and 3D range data

In this paper, we present an algorithm to identify types of places and objects from 2D and 3D laser range data obtained in indoor environments. Our approach is a combination of a collective classification method based on associative Markov networks together with an instance-based feature extraction using nearest neighbor. Additionally, we show how to select the best features needed to represent the objects and places, reducing the time needed for the learning and inference steps while maintaining high classification rates. Experimental results in real data demonstrate the effectiveness of our approach in indoor environments

Furniture models learned from the WWW: using web catalogs to locate and categorize unknown furniture pieces in 3D laser scans

In this article, we investigate how autonomous robots can exploit the high quality information already available from the WWW concerning 3-D models of office furniture. Apart from the hobbyist effort in Google 3-D Warehouse, many companies providing office furnishings already have the models for considerable portions of the objects found in our workplaces and homes. In particular, we present an approach that allows a robot to learn generic models of typical office furniture using examples found in the Web. These generic models are then used by the robot to locate and categorize unknown furniture in real indoor environments

Multiobjective Coordination Models For Maintenance And Service Parts Inventory Planning And Control

In many equipment-intensive organizations in the manufacturing, service and particularly the defense sectors, service parts inventories constitute a significant source of tactical and operational costs and consume a significant portion of capital investment. For instance, the Defense Logistics Agency manages about 4 million consumable service parts and provides about 93% of all consumable service parts used by the military services. These items required about US$1.9 billion over the fiscal years 1999-2002. During the same time, the US General Accountability Office discovered that, in the United States Navy, there were about 3.7 billion ship and submarine parts that were not needed. The Federal Aviation Administration says that 26 million aircraft parts are changed each year. In 2002, the holding cost of service parts for the aviation industry was estimated to be US$50 billion. The US Army Institute of Land Warfare reports that, at the beginning of the 2003 fiscal year, prior to Operation Iraqi Freedom the aviation service parts alone was in excess of US$1 billion. This situation makes the management of these items a very critical tactical and strategic issue that is worthy of further study. The key challenge is to maintain high equipment availability with low service cost (e.g., holding, warehousing, transportation, technicians, overhead, etc.). For instance, despite reporting US$10.5 billion in appropriations spent on purchasing service parts in 2000, the United States Air Force (USAF) continues to report shortages of service parts. The USAF estimates that, if the investment on service parts decreases to about US$5.3 billion, weapons systems availability would range from 73 to 100 percent. Thus, better management of service parts inventories should create opportunities for cost savings caused by the efficient management of these inventories. Unfortunately, service parts belong to a class of inventory that continually makes them difficult to manage. Moreover, it can be said that the general function of service parts inventories is to support maintenance actions; therefore, service parts inventory policies are highly related to the resident maintenance policies. However, the interrelationship between service parts inventory management and maintenance policies is often overlooked, both in practice and in the academic literature, when it comes to optimizing maintenance and service parts inventory policies. Hence, there exists a great divide between maintenance and service parts inventory theory and practice. This research investigation specifically considers the aspect of joint maintenance and service part inventory optimization. We decompose the joint maintenance and service part inventory optimization problem into the supplier s problem and the customer s problem. Long-run expected cost functions for each problem that include the most common maintenance cost parameters and service parts inventory cost parameters are presented. Computational experiments are conducted for a single-supplier two-echelon service parts supply chain configuration varying the number of customers in the network. Lateral transshipments (LTs) of service parts between customers are not allowed. For this configuration, we optimize the cost functions using a traditional, or decoupled, approach, where each supply chain entity optimizes its cost individually, and a joint approach, where the cost objectives of both the supplier and customers are optimized simultaneously. We show that the multiple objective optimization approach outperforms the traditional decoupled optimization approach by generating lower system-wide supply chain network costs. The model formulations are extended by relaxing the assumption of no LTs between customers in the supply chain network. Similar to those for the no LTs configuration, the results for the LTs configuration show that the multiobjective optimization outperforms the decoupled optimization in terms of system-wide cost. Hence, it is economically beneficial to jointly consider all parties within the supply network. Further, we compare the model configurations LTs versus no LTs, and we show that using LTs improves the overall savings of the system. It is observed that the improvement is mostly derived from reduced shortage costs since the equipment downtime is reduced due to the proximity of the supply. The models and results of this research have significant practical implications as they can be used to assist decision-makers to determine when and where to pre-position parts inventories to maximize equipment availability. Furthermore, these models can assist in the preparation of the terms of long-term service agreements and maintenance contracts between original equipment manufacturers and their customers (i.e., equipment owners and/or operators), including determining the equitable allocation of all system-wide cost savings under the agreement