Efficient Constellation-Based Map-Merging for Semantic SLAM

Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments. When ambiguous measurements arise, conservatism often mandates that the measurement is discarded or a new landmark is initialized rather than risking an incorrect association. To address the inevitable `duplicate' landmarks that arise, we present an efficient map-merging framework to detect duplicate constellations of landmarks, providing a high-confidence loop-closure mechanism well-suited for object-level SLAM. This approach uses an incrementally-computable approximation of landmark uncertainty that only depends on local information in the SLAM graph, avoiding expensive recovery of the full system covariance matrix. This enables a search based on geometric consistency (GC) (rather than full joint compatibility (JC)) that inexpensively reduces the search space to a handful of `best' hypotheses. Furthermore, we reformulate the commonly-used interpretation tree to allow for more efficient integration of clique-based pairwise compatibility, accelerating the branch-and-bound max-cardinality search. Our method is demonstrated to match the performance of full JC methods at significantly-reduced computational cost, facilitating robust object-based loop-closure over large SLAM problems.Comment: Accepted to IEEE International Conference on Robotics and Automation (ICRA) 201

Complexity Analysis and Efficient Measurement Selection Primitives for High-Rate Graph SLAM

Sparsity has been widely recognized as crucial for efficient optimization in graph-based SLAM. Because the sparsity and structure of the SLAM graph reflect the set of incorporated measurements, many methods for sparsification have been proposed in hopes of reducing computation. These methods often focus narrowly on reducing edge count without regard for structure at a global level. Such structurally-naive techniques can fail to produce significant computational savings, even after aggressive pruning. In contrast, simple heuristics such as measurement decimation and keyframing are known empirically to produce significant computation reductions. To demonstrate why, we propose a quantitative metric called elimination complexity (EC) that bridges the existing analytic gap between graph structure and computation. EC quantifies the complexity of the primary computational bottleneck: the factorization step of a Gauss-Newton iteration. Using this metric, we show rigorously that decimation and keyframing impose favorable global structures and therefore achieve computation reductions on the order of $r^2/9$ and $r^3$, respectively, where $r$ is the pruning rate. We additionally present numerical results showing EC provides a good approximation of computation in both batch and incremental (iSAM2) optimization and demonstrate that pruning methods promoting globally-efficient structure outperform those that do not.Comment: Pre-print accepted to ICRA 201

Rotary Wing Deceleration Use on Titan

Rotary wing decelerator (RWD) systems were compared against other methods of atmospheric deceleration and were determined to show significant potential for application to a system requiring controlled descent, low-velocity landing, and atmospheric research capability on Titan. Design space exploration and down-selection results in a system with a single rotor utilizing cyclic pitch control. Models were developed for selection of a RWD descent system for use on Titan and to determine the relationships between the key design parameters of such a system and the time of descent. The possibility of extracting power from the system during descent was also investigated

Location utility-based map reduction

Maps used for navigation often include a database of location descriptions for place recognition (loop closing), which permits bounded-error performance. A standard pose-graph SLAM system adds a new entry for every new pose into the location database, which grows linearly and unbounded in time and thus becomes unsustainable. To address this issue, in this paper we propose a new map-reduction approach that pre-constructs a fixed-size place-recognition database amenable to the limited storage and processing resources of the vehicle by exploiting the high-level structure of the environment as well as the vehicle motion. In particular, we introduce the concept of location utility - which encapsulates the visitation probability of a location and its spatial distribution relative to nearby locations in the database - as a measure of the value of potential loop-closure events to occur at that location. While finding the optimal reduced location database is NP-hard, we develop an efficient greedy algorithm to sort all the locations in a map based on their relative utility without access to sensor measurements or the vehicle trajectory. This enables pre-determination of a generic, limited-size place-recognition database containing the N best locations in the environment. To validate the proposed approach, we develop an open-source street-map simulator using real city-map data and show that an accurate map (pose-graph) can be attained even when using a place-recognition database with only 1% of the entries of the corresponding full database.Charles Stark Draper Laboratory (Fellowship

Collision Probabilities for Continuous-Time Systems Without Sampling [with Appendices]

Demand for high-performance, robust, and safe autonomous systems has grown substantially in recent years. Fulfillment of these objectives requires accurate and efficient risk estimation that can be embedded in core decision-making tasks such as motion planning. On one hand, Monte-Carlo (MC) and other sampling-based techniques can provide accurate solutions for a wide variety of motion models but are cumbersome to apply in the context of continuous optimization. On the other hand, "direct" approximations aim to compute (or upper-bound) the failure probability as a smooth function of the decision variables, and thus are widely applicable. However, existing approaches fundamentally assume discrete-time dynamics and can perform unpredictably when applied to continuous-time systems operating in the real world, often manifesting as severe conservatism. State-of-the-art attempts to address this within a conventional discrete-time framework require additional Gaussianity approximations that ultimately produce inconsistency of their own. In this paper we take a fundamentally different approach, deriving a risk approximation framework directly in continuous time and producing a lightweight estimate that actually improves as the discretization is refined. Our approximation is shown to significantly outperform state-of-the-art techniques in replicating the MC estimate while maintaining the functional and computational benefits of a direct method. This enables robust, risk-aware, continuous motion-planning for a broad class of nonlinear, partially-observable systems.Comment: To appear at RSS 202

Wide-Area Geolocalization with a Limited Field of View Camera in Challenging Urban Environments

Cross-view geolocalization, a supplement or replacement for GPS, localizes an agent within a search area by matching ground-view images to overhead images. Significant progress has been made assuming a panoramic ground camera. Panoramic cameras' high complexity and cost make non-panoramic cameras more widely applicable, but also more challenging since they yield less scene overlap between ground and overhead images. This paper presents Restricted FOV Wide-Area Geolocalization (ReWAG), a cross-view geolocalization approach that combines a neural network and particle filter to globally localize a mobile agent with only odometry and a non-panoramic camera. ReWAG creates pose-aware embeddings and provides a strategy to incorporate particle pose into the Siamese network, improving localization accuracy by a factor of 100 compared to a vision transformer baseline. This extended work also presents ReWAG*, which improves upon ReWAG's generalization ability in previously unseen environments. ReWAG* repeatedly converges accurately on a dataset of images we have collected in Boston with a 72 degree field of view (FOV) camera, a location and FOV that ReWAG* was not trained on.Comment: 10 pages, 16 figures. Extension of ICRA 2023 paper arXiv:2209.1185

Global and national Burden of diseases and injuries among children and adolescents between 1990 and 2013

Importance The literature focuses on mortality among children younger than 5 years. Comparable information on nonfatal health outcomes among these children and the fatal and nonfatal burden of diseases and injuries among older children and adolescents is scarce. Objective To determine levels and trends in the fatal and nonfatal burden of diseases and injuries among younger children (aged <5 years), older children (aged 5-9 years), and adolescents (aged 10-19 years) between 1990 and 2013 in 188 countries from the Global Burden of Disease (GBD) 2013 study. Evidence Review Data from vital registration, verbal autopsy studies, maternal and child death surveillance, and other sources covering 14 244 site-years (ie, years of cause of death data by geography) from 1980 through 2013 were used to estimate cause-specific mortality. Data from 35 620 epidemiological sources were used to estimate the prevalence of the diseases and sequelae in the GBD 2013 study. Cause-specific mortality for most causes was estimated using the Cause of Death Ensemble Model strategy. For some infectious diseases (eg, HIV infection/AIDS, measles, hepatitis B) where the disease process is complex or the cause of death data were insufficient or unavailable, we used natural history models. For most nonfatal health outcomes, DisMod-MR 2.0, a Bayesian metaregression tool, was used to meta-analyze the epidemiological data to generate prevalence estimates. Findings Of the 7.7 (95% uncertainty interval [UI], 7.4-8.1) million deaths among children and adolescents globally in 2013, 6.28 million occurred among younger children, 0.48 million among older children, and 0.97 million among adolescents. In 2013, the leading causes of death were lower respiratory tract infections among younger children (905 059 deaths; 95% UI, 810 304-998 125), diarrheal diseases among older children (38 325 deaths; 95% UI, 30 365-47 678), and road injuries among adolescents (115 186 deaths; 95% UI, 105 185-124 870). Iron deficiency anemia was the leading cause of years lived with disability among children and adolescents, affecting 619 (95% UI, 618-621) million in 2013. Large between-country variations exist in mortality from leading causes among children and adolescents. Countries with rapid declines in all-cause mortality between 1990 and 2013 also experienced large declines in most leading causes of death, whereas countries with the slowest declines had stagnant or increasing trends in the leading causes of death. In 2013, Nigeria had a 12% global share of deaths from lower respiratory tract infections and a 38% global share of deaths from malaria. India had 33% of the world’s deaths from neonatal encephalopathy. Half of the world’s diarrheal deaths among children and adolescents occurred in just 5 countries: India, Democratic Republic of the Congo, Pakistan, Nigeria, and Ethiopia. Conclusions and Relevance Understanding the levels and trends of the leading causes of death and disability among children and adolescents is critical to guide investment and inform policies. Monitoring these trends over time is also key to understanding where interventions are having an impact. Proven interventions exist to prevent or treat the leading causes of unnecessary death and disability among children and adolescents. The findings presented here show that these are underused and give guidance to policy makers in countries where more attention is needed